Mimicking human walking with 5-link model using HZD controller
作者： Maziar Ahmad Sharbafi , Andre Seyfarth
DOI: 10.1109/ICRA.2015.7140086
关键词: Control theory 、 Simulation 、 Animal locomotion 、 Control theory 、 Bézier curve 、 Engineering 、 Gait (human) 、 Polynomial 、 Pivot point 、 Holonomic constraints 、 Motion control
摘要: Walking with 5-link model has been achieved by HZD (Hybrid Zero Dynamics) controller based on virtual constraints. These holonomic constraints are obtained optimizing a set of relations (e.g., Bezier polynomial) between system states which mostly do not have physical interpretations. In this paper, the designed using human walking experiment data. Inspiring from locomotion, different polynomials extracted to mimic joint angles patterns during walking. The leg angle is increasing variable synchronize joints and defines Simulation results show that stable locomotion upper-body behavior similar data for wide range speeds body configuration parameters. VPP (Virtual Pivot Point) concept, significant balancing feature found in human/animal investigated gait as performance index compare kinetic simulated Hence, we present humanlike posture control an outcome motion inspired
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