NDLI: Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios

Content Provider	IEEE Xplore Digital Library
Author	Nanjangud, A. Gregg, R.D.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Texas at Dallas, Richardson, TX, USA (Nanjangud, A.) \|\| Depts. of Mech. Eng. & Bioeng., Univ. of Texas at Dallas, Richardson, TX, USA (Gregg, R.D.)
Abstract	It is known that the hybrid dynamical model of a compass-gait biped, which is used here to represent a patient using ankle-foot prostheses on both legs, exhibits a loss of stable period-one symmetric gait with increasing hip-to-leg mass ratio. For higher mass ratios, the period-one gait becomes unstable and bifurcates into a period-two asymmetric gait. In this work, the continuous-time single-support phase of the compass-gait biped is linearized about the upright position and simultaneously stabilized by a linear time-invariant controller that is simple, single-input single-output, and only second-order. This controller, when simulated with the underactuated nonlinear hybrid compass-gait biped model, is shown to maintain stable period-one symmetric gait across all physiologically meaningful mass distributions of the compass-gait biped.
Starting Page	5490
Ending Page	5495
File Size	215499
Page Count	6
File Format	PDF
ISBN	9781479932726
ISSN	07431619
e-ISBN	9781479932740
DOI	10.1109/ACC.2014.6859314
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Legged locomotion Mathematical model Trajectory Bifurcation Torque Hip Hybrid systems Biomedical Stability of linear systems
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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