Dynamic modelling for implementation of a right turn in bipedal walking
Deutscher übersetzter Titel: | Dynamisches Modell zur Ausfuehrung einer Rechtsdrehung beim beidfuessigen Gehen |
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Autor: | Chen, Ben-Ren; Hines, Margaret J.; Hemami, Hooshang |
Erschienen in: | Journal of biomechanics |
Veröffentlicht: | 19 (1986), 3, S. 195-206, Lit. |
Format: | Literatur (SPOLIT) |
Publikationstyp: | Zeitschriftenartikel |
Medienart: | Gedruckte Ressource Elektronische Ressource (online) |
Sprache: | Englisch |
ISSN: | 0021-9290, 1873-2380 |
DOI: | 10.1016/0021-9290(86)90152-1 |
Schlagworte: | |
Online Zugang: | |
Erfassungsnummer: | PU198607004976 |
Quelle: | BISp |
Abstract
This paper deals with the development of a conceptual model for the control of a multilink biped during a turning maneuver. The skeletal model is a seven link biped for which the equations of motion are derived. A set of lower limb muscles are idealized by simple force actuators with no co-contraction of agonist-antagonist muscle pairs. A nonlinear control scheme is proposed to guide the model along the desired trajectory and to control ground reaction forces. The input to the system is a desired set of trajectories as functions of time and the patterns of desired ground reaction forces in a turn. One set of such inputs are inferred from the existing literature. With this input, the nonlinear control strategy allows computation of muscular forces needed for the turning maneuver. Verf.-Referat