Biologically-inspired push recovery capable bipedal locomotion modeling through hybrid automata

Abstract

The earlier developed two stage hybrid automata is not a perfect representation of human walk as it is a combination of discrete and continuous phases and the whole human GAIT has 8 stages. Our major contribution is eight stage hybrid automata for large push recovery and various dynamic parameter studies for stable walk model. We have developed a controller to verify different stage of human locomotion by using OpenSim data for model 3DGaitModel2354 and lower extremity data. We verified the hybrid automata model using the real human GAIT data for normal person. We identify the importance of the human lower extremity for locomotion and push recovery from large perturbation. The novelty of research work is to model the bipedal locomotion as a re-usable component based framework. Our original contribution lies in the fact that we have tried to view it from a software engineering perspective.