CONTROL OF THE SIMPLEST WALKING MODEL WITH LAMBDA MODEL

The analysis of the simplest biped walking machine can provide much insight into dynamics and control of human gait. The problem, in the sagittal plane, consists to control the impulse force under the swing foot and the torque between the legs in order to reach a stable limit cycle. The main contrib...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 35; no. 1; pp. 413 - 418
Main Authors Micheau, Philippe, Buaka, Paulin, Bourassa, Paul
Format Journal Article
LanguageEnglish
Published 2002
Subjects
human
limit cycles
nonlinear
torque control
walking
nonlinear
torque control
human
walking
limit cycles
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Summary:The analysis of the simplest biped walking machine can provide much insight into dynamics and control of human gait. The problem, in the sagittal plane, consists to control the impulse force under the swing foot and the torque between the legs in order to reach a stable limit cycle. The main contribution of this paper concerns the hierarchical control based on the physiological Lambda model and a pattern generator working with intermittent data. The feedback is tuned in order to obtain oscillations at the walking frequency. Simulation results present stable limit cycle.
ISSN:1474-6670
DOI:10.3182/20020721-6-ES-1901.00881