Reproducing vertical human walking loads on rigid level surfaces with a damped bipedal inverted pendulum

2019 ◽

Vol 16 (06) ◽

pp. 1950040

Author(s):

Qiuyue Luo ◽

Christine Chevallereau ◽

Yannick Aoustin

Keyword(s):

Periodic Motion ◽

Inverted Pendulum ◽

Walking Speed ◽

Center Of Mass ◽

Pi Controller ◽

Variable Length ◽

Bipedal Walking ◽

Human Walking ◽

Walking Gait ◽

Switching Condition

Bipedal walking is a complex phenomenon that is not fully understood. Simplified models make it easier to highlight the important features. Here, the variable length inverted pendulum (VLIP) model is used, which has the particularity of taking into account the vertical oscillations of the center of mass (CoM). When the desired walking gait is defined as virtual constraints, i.e., as functions of a phasing variable and not on time, for the evolution of the swing foot and the vertical oscillation of the CoM, the walk will asymptotically converge to the periodic motion under disturbance with proper choice of the virtual constraints, thus a self-stabilization is obtained. It is shown that the vertical CoM oscillation, positions of the swing foot and the choice of the switching condition play crucial roles in stability. Moreover, a PI controller of the CoM velocity along the sagittal axis is also proposed such that the walking speed of the robot can converge to another periodic motion with a different walking speed. In this way, a natural walking gait is illustrated as well as the possibility of velocity adaptation as observed in human walking.

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Understand Human Walking Through a 2D Inverted Pendulum Model

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) ◽

10.1109/humanoids.2018.8625057 ◽

2018 ◽

Author(s):

Linqi Ye ◽

Xuechao Chen

Keyword(s):

Inverted Pendulum ◽

Human Walking ◽

Inverted Pendulum Model ◽

Pendulum Model

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A controller for walking derived from how humans recover from perturbations

Journal of The Royal Society Interface ◽

10.1098/rsif.2019.0027 ◽

2019 ◽

Vol 16 (157) ◽

pp. 20190027 ◽

Cited By ~ 5

Author(s):

Varun Joshi ◽

Manoj Srinivasan

Keyword(s):

Inverted Pendulum ◽

Upper Body ◽

Human Walking ◽

Control Mechanisms ◽

Normal Walking ◽

Foot Placement ◽

External Perturbations ◽

Inverted Pendulum Model ◽

Pendulum Model ◽

Full State

Humans can walk without falling despite some external perturbations, but the control mechanisms by which this stability is achieved have not been fully characterized. While numerous walking simulations and robots have been constructed, no full-state walking controller for even a simple model of walking has been derived from human walking data. Here, to construct such a feedback controller, we applied thousands of unforeseen perturbations to subjects walking on a treadmill and collected data describing their recovery to normal walking. Using these data, we derived a linear controller to make the classical inverted pendulum model of walking respond to perturbations like a human. The walking model consists of a point-mass with two massless legs and can be controlled only through the appropriate placement of the foot and the push-off impulse applied along the trailing leg. We derived how this foot placement and push-off impulse are modulated in response to upper-body perturbations in various directions. This feedback-controlled biped recovers from perturbations in a manner qualitatively similar to human recovery. The biped can recover from perturbations over twenty times larger than deviations experienced during normal walking and the biped’s stability is robust to uncertainties, specifically, large changes in body and feedback parameters.

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Foot placement analysis of human walking based on capture point of linear inverted pendulum model

2017 IEEE International Conference on Information and Automation (ICIA) ◽

10.1109/icinfa.2017.8078991 ◽

2017 ◽

Author(s):

Wei Guo ◽

Shiyin Qiu ◽

Pengfei Wang ◽

Wentao Sheng ◽

Jing Deng

Keyword(s):

Inverted Pendulum ◽

Human Walking ◽

Foot Placement ◽

Inverted Pendulum Model ◽

Pendulum Model ◽

Capture Point

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Modeling human walking as an inverted pendulum of varying length

Shaping Primate Evolution ◽

10.1017/cbo9780511542336.019 ◽

2004 ◽

pp. 297-333 ◽

Cited By ~ 1

Author(s):

Jack T. Stern ◽

Brigitte Demes ◽

D. Casey Kerrigan

Keyword(s):

Inverted Pendulum ◽

Human Walking ◽

Varying Length

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Modeling and Simulation of Lower Extremity Exoskeleton

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.487.504 ◽

2014 ◽

Vol 487 ◽

pp. 504-508 ◽

Cited By ~ 1

Author(s):

Yu Zhang ◽

Xiao Bo Wu ◽

Hui Fang Liu

Keyword(s):

Lower Extremity ◽

Degrees Of Freedom ◽

Inverted Pendulum ◽

Three Dimensional ◽

Human Walking ◽

Auxiliary Equipment ◽

Walking Gait ◽

Three Dimensional Modeling ◽

Dimensional Modeling ◽

Physical Prototype

In order to make the paralyzed live on their own and return to the society to the most degree, mechanical exoskeleton technology is tried to applied in the field of auxiliary equipment. First, degrees of freedom and mechanical structure at the each joint of lower extremity exoskeleton was ascertained.Then a three dimensional modeling design for the lower extremity exoskeleton was carried out with SIEMENS NX8.0 and a walking gait on a flat for it was planned on MATLAB basing on inverted pendulum model.Finally the legs model was simulated on ADAMS.The result of the simulation was basically the same as planned gait which can better satisfy the requirement of human walking and can be used as reference for developping the physical prototype of lower extremity exoskeleton.

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