Abstract
This paper extends the three-dimensional inverted pendulum (spherical inverted pendulum or SIP) in a polar coordinate system to simulate human walking in free fall and the energy recovery when the foot collides with the ground. The purpose is to propose a general model to account for all characteristics of the biped and of the gait, while adding minimal dynamical complexity with respect to the SIP. This model allows for both walking omnidirectionally on a flat surface and going up and down staircases. The technique does not use torque control. However, for the gait, the only action is the change in angular velocity at the start of a new step with respect to those given after the collision (emulating the torque action in the brief double stance period) to recover from the losses, as well as the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision for balance and maneuvering. Moreover, in climbing or descending staircases, during the step, the length of the supporting leg is modified for the height of the step of the staircase. Simulation examples are offered for a rectilinear walk, ascending and descending rectilinear or spiral staircases, showing stability of the walk, and the expenditure of energy.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.