A control strategy for adaptive bipedal locomotion

Rhythmic movements of a five-link sagittal biped with muscle-like actuators are considered. In walking contact is periodically made with the environment as the support phases change. The inputs to every actuator are modeled after the inputs to muscles in mammals. The system possesses intrinsic position and velocity feedback due to the actuator dynamics. A control strategy is articulated that is novel in that (a) it is physiologically viable, (b) it simplifies the dynamics, and (c) it adapts to speed of walking, going up and down stairs, going up or dozen inclines, maneuvering above obstacles or holes, and the tempo and stride length of walking. Simulations of the walk of a five-link sagittal biped are presented.

[1]  Hooshang Hemami,et al.  Postural and gait stability of a planar five link biped by simulation , 1977 .

[2]  D A Winter,et al.  A mathematical model for the dynamics of human locomotion. , 1980, Journal of biomechanics.

[3]  Hooshang Hemami,et al.  A Feedback On-Off Model of Biped Dynamics , 1980, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  John F. Kalaska,et al.  Spatial coding of movement: A hypothesis concerning the coding of movement direction by motor cortical populations , 1983 .

[5]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[6]  N. Hogan.  An organizing principle for a class of voluntary movements , 1984, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[7]  Yuan F. Zheng,et al.  Dynamics and Control of Motion on the Ground and in the Air with Application to Biped Robots , 1984, J. Field Robotics.

[8]  L. Stark,et al.  Roles of the elements of the triphasic control signal , 1985, Experimental Neurology.

[9]  V. Brooks.  The Neural Basis of Motor Control , 1986 .

[10]  Andrew B. Schwartz,et al.  On Information Processing and Performing a Movement Sequence , 1986 .

[11]  R. Brand,et al.  The biomechanics and motor control of human gait: Normal, elderly, and pathological , 1992 .

[12]  F. Zajac.  Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. , 1989, Critical reviews in biomedical engineering.

[13]  F.E. Zajac,et al.  Restoring unassisted natural gait to paraplegics via functional neuromuscular stimulation: a computer simulation study , 1990, IEEE Transactions on Biomedical Engineering.

[14]  F. Zajac,et al.  A musculoskeletal model of the human lower extremity: the effect of muscle, tendon, and moment arm on the moment-angle relationship of musculotendon actuators at the hip, knee, and ankle. , 1990, Journal of biomechanics.

[15]  V. Dietz,et al.  A basic posture control mechanism: the stabilization of the centre of gravity. , 1990, Electroencephalography and clinical neurophysiology.

[16]  G. Loeb,et al.  Feedback gains for correcting small perturbations to standing posture , 1991 .

[17]  Hooshang Hemami,et al.  A marionette-based strategy for stable movement , 1993, IEEE Trans. Syst. Man Cybern..

[18]  H. Hemami,et al.  Stability and movement of a one-link neuromusculoskeletal sagittal arm , 1993, IEEE Transactions on Biomedical Engineering.

[19]  K. Iqbal,et al.  Stability and control of a frontal four-link biped system , 1993, IEEE Transactions on Biomedical Engineering.