LEXO-ANO

control and simulation for an exo-skeleton LEXO from STARX @ U-M
This is a simple demo of our control and parameters are not tuned yet.

Instruction

Run ANO_sim\Ano_sim.m to see state space simulation of the Adaptive Natural Oscillator.

Results

Position tracking and frequency convergence under Gaussian disturbance.

Tracking a sine wave with converging frequency

State-space plot of two trajectories with random initial position

TODO:

visualize the oscillator in a two-link robot.

Reference

1. The built-in simulator of this project is developed by jakub-kaminski
2. The Adaptive Natural Oscillator.
3. Theoretical analysis of the Adaptive Frequency Oscillator.