Biologically-inspired push recovery capable bipedal locomotion modeling through hybrid automata
作者： Vijay Bhaskar Semwal , Shiv A. Katiyar , Rupak Chakraborty , G.C. Nandi
DOI: 10.1016/J.ROBOT.2015.02.009
关键词:
摘要: The earlier developed two stage hybrid automata is not a perfect representation of human walk as it combination discrete and continuous phases the whole GAIT has 8 stages. Our major contribution eight for large push recovery various dynamic parameter studies stable model. We have controller to verify different locomotion by using OpenSim data model 3DGaitModel2354 lower extremity data. verified real normal person. identify the?importance?of?the extremity?for from perturbation. novelty research work bipedal re-usable component based framework. original lies in fact that we tried view software engineering perspective. Hybrid cycle implemented.Design walk.Defined all static parameter.Described domain break down humanoid system.Proposed canonical equation universal moment join angle produce exact locomotion.
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