NDLI: Regulating speed and generating large speed transitions in a neuromuscular human walking model

Content Provider	IEEE Xplore Digital Library
Author	Seungmoon Song Geyer, H.
Copyright Year	2012
Description	Author affiliation: Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA (Seungmoon Song; Geyer, H.)
Abstract	Although current humanoid controllers can rely on inverse kinematics or dynamics of the full humanoid system, powered prosthetic legs or assistive devices cannot, because they do not have access to the full states of the human system. This limitation creates the need for alternative control strategies. One strategy is to embed fundamental knowledge about legged dynamics and control in local feedback. In a previous paper, we have developed a control model of human locomotion which relies mostly on local feedback. The model can robustly walk at normal walking speeds. Here we extend this model to adapt to a wide range of walking speeds and to generate corresponding speed transitions. We use optimization of the model's control parameters and find key parameters responsible for steady walking between $0.8ms^{−1}$ and $1.8ms^{−1},$ covering the range of speed at which humans normally walk. Using these parameters, we demonstrate speed transitions between slow and fast walking. In addition, we discuss how the speed-dependent changes of the identified control parameters connect to biped walking dynamics, and suggest how these changes can be integrated in local feedback control.
Starting Page	511
Ending Page	516
File Size	682604
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225307
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Optimization Humans Hip Joints Neuromuscular
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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