Abstract
AbstractA human-inspired method for achieving bipedal robotic walking is proposed in which a hybrid model of a human is used in conjunction with experimental walking data to obtain a multi-domain hybrid system. Walking data were collected for nine test subjects; these data are analyzed in terms of the kinematics of walking. In bipedal walking, certain points on the body are constrained for various intervals throughout the gait; this phenomenon is used to formally break the gait into walking phases. The results indicate that all of the nine subjects had the same breakdown with similar times spent in each phase; in other words, this specific breakdown likely represents a canonical human model. Using this canonical breakdown, a controller is designed for a robotic model which mimics human kinematics behaviors by tracking functions of the kinematics—this controller is applied in simulation, resulting in stable walking which is remarkably humanlike in nature.
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