NDLI: Compass gait revisited: A human data perspective with extensions to three dimensions

Content Provider	IEEE Xplore Digital Library
Author	Sinnet, R.W. Powell, M.J. Shu Jiang Ames, A.D.
Copyright Year	2011
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.)
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.
Starting Page	682
Ending Page	689
File Size	2364060
Page Count	8
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161473
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Europe Robots Humans
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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