Toward a Three-Dimensional Forward Model of Human Walking
نویسنده
چکیده
Approach: The structure of the model represents the legs and trunk of a male of average height and weight. We also plan to build a female model. The model has seven rigid links, 12 actuated degrees of freedom, and a realistic mass distribution. The equations of motion are generated and solved based on Newtonian mechanics. Kinematic and force-plate data acquired from healthy, young subjects are used to test three different virtual-element control architectures for walking: (a) a “granny-walker”, (b) a compliant-wheel design, and (c) a rolling multi-dimensional surface. Preliminary data used for this study were collected previously [5]. The data suggest that in normal walking the stance leg behaves as a spring in two separate stages, as evidenced by the maximal compressions of the virtual leg coinciding in time with the maxima in ground force (Fig. 1, upper and middle). The data also show that the angular velocity of the virtual leg is approximately constant with time (Fig. 1, lower). These data suggest that the stance limbs in walking may be modeled as compliant spokes of a rolling wheel or surface, where the center-ofmass characteristics are the outputs. The reason for including a granny-walker controller in our tests is that this architecture has been shown to effectively stabilize a two-dimensional bipedal robot [4]. We want to answer the question of whether this type of control produces biologically realistic trajectories.
منابع مشابه
Reconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot
This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...
متن کاملFrom Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
متن کاملEnergy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملLow Doses of Celecoxib Stimulate Human Endometrium Growth in A Three-Dimensional Culture Model
متن کامل
Evaluation of a Walking Tractor Drawn Peanut Harvester and Comparing It With Manual Harvesting
The object of this study was evaluation of a walking tractor drawn peanut harvester at different conditions of soil moisture content and forward speed and comparing it with manual harvesting. The evaluation factors for peanut harvester were two levels of soil moisture content and three levels of forward speed. The results revealed that the effect of soil moisture content was only significant on...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2001