Control design for planar model of a core-located actuation walker

U. Huzaifa, Amy Elizabeth LaViers Minnick

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

From movement analysis literature, such as the work of Bartenieff, and motion capture and anatomical evidence, it is known that the core of human body plays an important role in walking motion. Motivated by these findings, a biped robot with core-located actuation, which causes the center of mass to change, has been proposed. In this paper, a planar model of the core-located actuation platform and its simulation results are presented. This simple model utilizes actuation near its center of mass in order to achieve forward progress. A stable walking gait is derived using the method of feedback linearization and virtual constraints to define desired walking behavior. The results of this modeling and control analysis are presented here. This initial work lays the framework for a humanoid platform that utilizes actuation strategies more closely akin to those employed by virtuosic movers, who focus on core training and initiation, allowing biped robotic platforms to achieve more robust and stylistically adjustable gaits.

Original languageEnglish (US)
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages170-175
Number of pages6
ISBN (Electronic)9781509032877
DOIs
StatePublished - Jul 26 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: Jun 26 2016Jun 29 2016

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2016-July
ISSN (Print)2155-1774

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period6/26/166/29/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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