Advanced Swing Leg Control for Stable Locomotion
نویسندگان
چکیده
Locomotion can be described as a subsequent series of stance and flight phases. In both phases the leg properties can be adapted. Here we consider spring-mass running with a linear adaptation of two leg parameters, leg angle and leg stiffness, during swing phase. The region of stability is characterized by the basin of attraction with sufficient reduction of a given perturbation within one step. The proposed swing-leg control predicts a substantial region of alternative swing leg adjustment rates. The resulting control redundancy includes different foot placement strategies which could be used to manage landing impacts and running stability in one consistent approach.
منابع مشابه
Dynamics and Regulation of Locomotion of a Human Swing Leg as a Double-Pendulum Considering Self-Impact Joint Constraint
Background:Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion.Objective :The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modelin...
متن کاملHuman leg adjustment in perturbed hopping
Robots can help to demonstrate and prove concepts on human locomotion such as concepts based on springlike leg behavior. Hopping is a fundamental requirement for running in two basic functions: bouncing and balancing. In addition, for robust hopping against perturbations, swinging the leg in flight/swing phase is observed. These three elements need to be integrated for stable/robust locomotion ...
متن کاملCharacterizing Swing-Leg Retraction in Human Locomotion
Swing-leg retraction, the backward rotation of the swing leg just prior to ground contact, is observed in human locomotion. While several advantages of swingleg retraction, like gait stability and perturbation rejection, are shown by conceptual models, there is currently very little experimental data on swing-leg retraction in human motion. In this paper, kinematic data for twenty-eight subject...
متن کاملBirds achieve high robustness in uneven terrain through active control of landing conditions.
We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust sta...
متن کاملSwing-Leg Trajectory of Running Guinea Fowl Suggests Task-Level Priority of Force Regulation Rather than Disturbance Rejection
To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet, simulations suggest that not all these ...
متن کامل