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Author Sinnet, R.W. ♦ Powell, M.J. ♦ Shu Jiang ♦ Ames, A.D.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2011
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Europe ♦ Robots ♦ Humans
Abstract To better understand human walking, three bipedal robotic models—starting with the compass gait biped and increasing in complexity to a 3D kneed biped—are studied with controllers of human-inspired design; these controllers are derived from experimental data measuring the kinematics of human test subjects. The collected data are examined in an attempt to classify some of the most fundamental behaviors underlying human walking; it is found that a subset of functions on the kinematics of humans can be represented as a single class of functions. The control scheme uses feedback linearization to track the human output functions on a robot. A state-based parameterization for time is introduced to make these human functions time-invariant. Simulation results indicate the existence of locally exponentially stable periodic orbits for each model of interest; these orbits represent stable, steady-state walking gaits. The application of the human-inspired control approach results in “humanlike” walking as supported by agreement between the outputs of the robot models and humans.
Description Author affiliation: Department of Mechanical Engineering, Texas A&M University, College Station, 77843, USA (Sinnet, R.W.; Powell, M.J.; Shu Jiang; Ames, A.D.)
ISBN 9781612848006
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2011-12-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781612848013
Size (in Bytes) 2.25 MB
Page Count 8
Starting Page 682
Ending Page 689


Source: IEEE Xplore Digital Library