Active joint torques are the primary source of power and control in dynamic walking motion. However the amplitude, rate, timing and phasic behavior of the joint torques necessary to achieve a natural and stable performance are difficult to establish. The goal of this study was to demonstrate the feasibility and stable behavior of an actively controlled bipedal walking simulation wherein the natural system dynamics were preserved by an active, nonlinear, state-feedback controller patterned after passive downhill walking. A two degree-of-freedom, forward-dynamic simulation was implemented with active joint torques applied at the hip joints and stance leg ankle. Kinematic trajectories produced by the active walker were similar to passive dynamic walking with active joint torques influenced by prescribed walking velocity. The control resulted in stable steady-state gait patterns, i.e. eigenvalue magnitudes of the stride function were less than one. The controller coefficient analogous to the virtual slope was modified to successfully control average walking velocity. Furture developments are necessary to expand the range of walking velocities.
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February 2005
Technical Papers
Virtual Slope Control of a Forward Dynamic Bipedal Walker
S. Russell,
S. Russell
Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061
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K. P. Granata,
K. P. Granata
Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061
11
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P. Sheth
P. Sheth
Department of Mechanical Engineering, University of Virginia, Charlottesville VA, 22904
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S. Russell
Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061
K. P. Granata
11
Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061
P. Sheth
Department of Mechanical Engineering, University of Virginia, Charlottesville VA, 22904
Contributed by the Bioengineering Division for publication in the JOURNAL OF BIOMECHANICAL ENGINEERING. Manuscript received by the Bioengineering Division June 18, 2003; revision received July 28, 2004. Associate Editor: Kit Vaughan.
J Biomech Eng. Feb 2005, 127(1): 114-122 (9 pages)
Published Online: March 8, 2005
Article history
Received:
June 18, 2003
Revised:
July 28, 2004
Online:
March 8, 2005
Citation
Russell , S., Granata, K. P., and Sheth, P. (March 8, 2005). "Virtual Slope Control of a Forward Dynamic Bipedal Walker ." ASME. J Biomech Eng. February 2005; 127(1): 114–122. https://doi.org/10.1115/1.1835358
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