reactive balance control in walking based on a bipedal linear inverted pendulum model
DESCRIPTION
Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model. Salem Cherenet Biomechanics and Motor Controls Final Presentation Dec 13,2011. Objective. Develop a reactive balance controller for foot placement in biped legged locomotion - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/1.jpg)
Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model
Salem CherenetBiomechanics and Motor ControlsFinal PresentationDec 13,2011
![Page 2: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/2.jpg)
1 Leg• Kangaroo
2 Leg• Ostrich• Human
3 Leg• Amputated
Dog ?!
4 Leg• Cats• Dogs
6 Leg• Cockroach
![Page 3: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/3.jpg)
Bugs [µm]
Mosquito [mm]
Dogs, cats [cm]
Ostrich [1 m]
Humans [m]
Dinosaurs [10 m]
Friction Dominated
Gravity Dominated
![Page 4: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/4.jpg)
Objective
• Develop a reactive balance controller for foot placement in biped legged locomotion
• Verify the results from F.Parietti, G.Hartmut (2011)
![Page 5: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/5.jpg)
Motivation
• A simple model for gait analysis• Base for Biped Linear inverted Pendulum
(bLIP) model in 3D
![Page 6: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/6.jpg)
RightSwing
LeftStance
LeftSwing
EOM Integrator
S-RFlip-Flop
RightStance
S-RFlip-Flop
![Page 7: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/7.jpg)
Results
• Matlab-Simulink Simulation of BLIP
![Page 8: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/8.jpg)
Future Work
• Debug the controller model• Compare results with results from
F.Parietti, G.Hartmut (2011) • Extend the theory into 3D
![Page 9: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model](https://reader035.vdocuments.net/reader035/viewer/2022070420/56815ee7550346895dcd905f/html5/thumbnails/9.jpg)
Questions?