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Compass gait revisited: A human data perspective with extensions to three dimensions

Sinnet, Ryan W. and Powell, Matthew J. and Jiang, Shu and Ames, Aaron D. (2011) Compass gait revisited: A human data perspective with extensions to three dimensions. In: 2011 50th IEEE Conference on Decision and Control and European Control Conference. IEEE , Piscataway, NJ, pp. 682-689. ISBN 978-1-61284-801-3. https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416

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Abstract

To better understand human walking, three bipedal robotic models-starting with the compass gait biped and increasing in complexity to a 3D kneed biped-are studied with controllers of human-inspired design; these controllers are derived from experimental data measuring the kinematics of human test subjects. The collected data are examined in an attempt to classify some of the most fundamental behaviors underlying human walking; it is found that a subset of functions on the kinematics of humans can be represented as a single class of functions. The control scheme uses feedback linearization to track the human output functions on a robot. A state-based parameterization for time is introduced to make these human functions time-invariant. Simulation results indicate the existence of locally exponentially stable periodic orbits for each model of interest; these orbits represent stable, steady-state walking gaits. The application of the human-inspired control approach results in “humanlike” walking as supported by agreement between the outputs of the robot models and humans.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2011.6161473DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2011 IEEE. The work of A. D. Ames is supported by NSF grant CNS-0953823.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Record Number:CaltechAUTHORS:20190220-105431416
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416
Official Citation:R. W. Sinnet, M. J. Powell, S. Jiang and A. D. Ames, "Compass gait revisited: A human data perspective with extensions to three dimensions," 2011 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, 2011, pp. 682-689. doi: 10.1109/CDC.2011.6161473
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93006
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:20 Feb 2019 19:19
Last Modified:03 Oct 2019 20:50

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