@INPROCEEDINGS{6907026, author={H. Zhao and S. Kolathaya and A. D. Ames}, booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)}, title={Quadratic programming and impedance control for transfemoral prosthesis}, year={2014}, volume={}, number={}, pages={1341-1347}, keywords={Lyapunov methods;feedforward;legged locomotion;medical robotics;optimal control;prosthetics;quadratic programming;stability;AMBER robot;CLF based quadratic programming;bipedal walking;control Lyapunov function;controller stability;feedforward term;impedance control;optimal control strategy;prosthetic control;tracking performance;transfemoral prosthesis;virtual prosthesis;Impedance;Joints;Legged locomotion;Prosthetics;Robot kinematics;Torque}, doi={10.1109/ICRA.2014.6907026}, ISSN={1050-4729}, month={May},}