J. Finat (Spain), M. Guihard, and P. Gorce (France)
Humanod, Multibody dynamics, Dexterity and locomotivity, Passive and active control, non linear control, impedance control.
The aim of this work is to propose a hierarchical model for the generation of human gait and to validate it through its integration into the control architecture of humanod structures. The intermittent contact with the ground at the take-off and landing phases which characterizes the human locomotion is the source of discontinuities (modeled as phases transitions) involving the kinematics and the dynamics. This paper deals with the integration of these phases into a mechanical model able to manage the generation of the global gait using the principle of marginal stability around expected trajectories. These notions are taken into account within the dynamic control architecture developed for the control of pneumatic human-like structures. The pneumatic feature provides smooth behavior especially during contact phases. A special section will deal with the control law design to achieve a good trajectory tracking based on the complete dynamic model of one chain and on the joint impedance notion. Local models are given showing prediction and tracking tools for local trajectories around phase transitions. The main challenge of this work is to propose in the future, through simulations and experiments, artificial models for the assistance of disabled people.
Important Links:
Go Back
