Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches

Xiang, Yujiang; Arora, Jasbir S.; Abdel‐Malek, Karim

doi:10.1007/s00158-010-0496-8

Cited by 114 publications

(78 citation statements)

References 130 publications

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“…Basically, and based on [17], kinematic relations allow to define the velocity of the nut of the screw with respect to a desired reference and as a function of the motor velocity. For instance, from Figure 4, it can be obtained the vertical position of the nut in the knee (left side), which after a time derivation can be expressed as, (10) where k 4w q q , w 1, 2;   denotes a general knee coordinate and mk q  is the velocity of the corresponding knee motor. Equation (10) allows to obtain a relation between the motor and joint velocities of the form…”

Section: Physical Platformmentioning

confidence: 99%

“…The use of Poincare maps and limit cycles has been discussed in [8], [4], [9]. The design of reference trajectories is also an important topic in terms, for example, of optimal performance [5], [10]; natural inspired evolution [11]; or time dependent polynomial design [12]. Additionally, the mechanical design of a biped robot structure has been addressed in order to get special characteristics of mobility; this fact however represents an important energy consumption issue.…”

Section: Introductionmentioning

confidence: 99%

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Design and Real-Time Control of a 4-DOF Biped Robot

Vázquez

Velasco-Villa

2013

International Journal of Advanced Robotic Systems

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This work is focused on the design, construction and model based control of a biped robot during the walking cycle on the sagittal plane. For the analysis, the single support phase is considered to be the dominating dynamics, by assuming an instantaneous double support phase which is only described by the impact phenomenon. The joint tracking problem is analyzed by means of a model based control strategy, which incorporates a reformulation of the Coriolis matrix that allows the cancellation of non antisymmetric terms in order to formally proof the asymptotic stability of the coordinate error system representation in a local sense. Some experiments are carried out for a pre-defined reference trajectory for the walking cycle of a 4-DOF biped robot.

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Section: Physical Platformmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Real-Time Control of a 4-DOF Biped Robot

Vázquez

Velasco-Villa

2013

International Journal of Advanced Robotic Systems

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“…In its simplest form, the inverted pendulum consists of a point mass, which models the center of mass of the individual, attached to two straight mass-less segments, the legs. Works that use inverted pendulum (in its simplest or more sophisticated forms) or similar models to study aspects of the mechanics of biped walkers or related toys or biped robots include [12]- [26]. Particularly, the work in [27] has inspired lots of subsequent work.…”

Section: Introductionmentioning

confidence: 99%

Modeling Walking with an Inverted Pendulum Not Constrained to the Sagittal Plane. Numerical Simulations and Asymptotic Expansions

Goldsztein¹

2017

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Inverted pendulum models are commonly used to study the bio-mechanics of biped walkers. In its simplest form, the inverted pendulum consists of a point mass attached to two straight mass-less legs. Most works constrain the motion of the mass to the sagittal plane, i.e. the plane perpendicular to the ground that contains the direction toward the biped is walking. In this article, we remove this constrain to study the oscillations, the mass experiences in the direction perpendicular to the sagittal plane as the biped walks. While small, these lateral oscillations are unavoidable and of importance in the understanding of balance and stability of walkers, as well as walkers induced oscillations in pedestrian bridges.

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“…Between the different approaches for the synthesis of human walking (Xiang et al 2010), two clearly distinguish: dynamical synthesis and data motion replay. The first approach allows for the study of the gait itself, without the bias of human data replay that can be found in the second case.…”

Section: Introductionmentioning

confidence: 99%