Modeling of control and learning in a stepping motion

DOI10.1007/BF00318373MaRDI QIDQ1084046zbMATH OpenOpenAlexWikidataFDO

Authors Henryk Flashner, Anne Beuter, Ara Arabyan

Publication date 1987

Published in Biological Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf00318373

zbMATH Keywords

cycloidshierarchical control structureopen-loop controlsimulation techniquesinusoidal joint angular velocity profilesstepping motionthree-body linkage with four degrees of freedom

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Other natural sciences (mathematical treatment) (92F05) Adaptive control/observation systems (93C40) Model systems in control theory (93C99)

Review text

In a previous study, ibid. 53, 273-284 (1986; Zbl 0584.92029), the authors modeled a stepping motion using a three-body linkage with four degrees of freedom. Stepping was simulated by using three task parameters (i.e., step height, length, and duration) and sinusoidal joint angular velocity profiles. The results supported the concept of a hierarchical control structure with open-loop control during normal operation. In this study we refine the dynamic model and improve the simulation technique by incorporating the dynamics of the leg after landing, adding a foot segment to the model, and preprogramming the complete step motion using cycloids.

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Cites work

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Cited in

(7)

• Phase plane modeling of leg motion
• Modification of landing conditions at contact via flight phase control
• A model fo the neuro-musculo-skeletal system for human locomotion. I: Emergence of basic gait
• A model of the neuro-musculo-skeletal system for human locomotion. II: Real-time adaptability under various constraints
• Multijoint control strategies transfer between tasks
• Normal and hemiparetic walking
• Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits

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