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Virtual slope control of a forward dynamic bipedal walker.
S Russell1, K P Granata, P Sheth
1Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA.
Journal of Biomechanical Engineering
|May 5, 2005
Summary
This study demonstrates a stable bipedal walking simulation using an active, nonlinear controller. The controller mimics passive dynamics, enabling stable gaits and adjustable walking velocity.
Area of Science:
- Robotics
- Biomechanics
- Control Systems
Background:
- Active joint torques are crucial for dynamic walking control.
- Establishing optimal torque parameters for natural and stable walking is challenging.
Purpose of the Study:
- To demonstrate the feasibility of an actively controlled bipedal walking simulation.
- To preserve natural system dynamics using a nonlinear, state-feedback controller.
- To pattern the controller after passive downhill walking principles.
Main Methods:
- Implemented a two degree-of-freedom, forward-dynamic simulation.
- Applied active joint torques at the hip and stance leg ankle joints.
- Utilized a nonlinear, state-feedback controller.
Main Results:
- Achieved kinematic trajectories similar to passive dynamic walking.
- Generated stable steady-state gait patterns with eigenvalue magnitudes less than one.
- Successfully controlled average walking velocity by adjusting a controller coefficient.
Conclusions:
- The active, nonlinear controller is feasible for stable bipedal walking.
- The controller effectively preserves natural dynamics and allows velocity control.
- Further research is needed to broaden the range of achievable walking velocities.