Integration of an adaptive swing control into a neuromuscular human walking model

摘要: Understanding the neuromuscular control underlying human locomotion has potential to deliver practical controllers for humanoid and prosthetic robots. However, neurocontrollers developed in forward dynamic simulations are seldom applied as due their lack of robustness adaptability. A key element robust adaptive is swing leg placement. Here we integrate a previously identified controller into full walking model demonstrate that integrated largely improved behaviors including on very rough terrain (±10cm) stair climbing (15cm stairs). These initial results highlight control. We plan generalize it range critical rehabilitation robotics.