Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 53 12 2022 02 20 Robust and Adaptive Control of an Exoskeleton Robot For Tracking Modified Desired Trajectory Based on Zero Moment Point Stability Theory Robust and Adaptive Control of an Exoskeleton Robot For Tracking Modified Desired Trajectory Based on Zero Moment Point Stability Theory 5831 5850 4569 10.22060/mej.2021.19761.7106 FA Majid Mokhtari School of Mechanical engineering, ShahidBeheshti University, Tehran, Iran Mostafa Taghizadeh shahid beheshti university Mahmood Mazare School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran. Journal Article 2021 03 19 The Creation of reference trajectories and the ability to track them in the presence of disturbances and uncertainties are important issues in investigating the exoskeleton performance. One of the methods of trajectory planning is the central pattern generation algorithm. This algorithm will behave in a limit cycle and the temporal disturbances have quickly removed the system and created harmonious trajectories. In this paper, for the creation of reference trajectories of each joint, a combination of seven modified Hopfield oscillators is used which provides the ability to change the frequency and domain of walking. Online modification of robot joint reference trajectories is done by using the feedback error signal between desired zero momentum point and zero momentum point of the robot at any moment. In order to cope with the disturbances and uncertainty with the uncertain domain and achieve maximum efficiency in tracking robot reference trajectories, an adaptive dynamic fast terminal sliding mode controller is used due to the elimination of chattering phenomena, and finite-time convergence. Also, by moving the Upper link the maximum stability of the robot based on the zero momentum point criterion is guaranteed. To achieve maximum performance, controller parameters, oscillator coefficients, and connections between them are optimized. Finally, the performance of the proposed method is compared with a sliding mode controller. The results demonstrate the superiority of the proposed method. The Creation of reference trajectories and the ability to track them in the presence of disturbances and uncertainties are important issues in investigating the exoskeleton performance. One of the methods of trajectory planning is the central pattern generation algorithm. This algorithm will behave in a limit cycle and the temporal disturbances have quickly removed the system and created harmonious trajectories. In this paper, for the creation of reference trajectories of each joint, a combination of seven modified Hopfield oscillators is used which provides the ability to change the frequency and domain of walking. Online modification of robot joint reference trajectories is done by using the feedback error signal between desired zero momentum point and zero momentum point of the robot at any moment. In order to cope with the disturbances and uncertainty with the uncertain domain and achieve maximum efficiency in tracking robot reference trajectories, an adaptive dynamic fast terminal sliding mode controller is used due to the elimination of chattering phenomena, and finite-time convergence. Also, by moving the Upper link the maximum stability of the robot based on the zero momentum point criterion is guaranteed. To achieve maximum performance, controller parameters, oscillator coefficients, and connections between them are optimized. Finally, the performance of the proposed method is compared with a sliding mode controller. The results demonstrate the superiority of the proposed method. https://mej.aut.ac.ir/article_4569_f1920129f9c75b3d604ea4874e120736.pdf