Biomechanical modeling of human body control scheme in stepping motion over an obstacle

摘要

The aim of the authors' study is to better understand the decision mechanisms of human body during the stepping motion over an obstacle. For that they based their study on experimental protocol, in order to determine behavioural laws. They used biomechanical model of the human body called "BIPMAN" and dynamic control scheme for the stepping task previously developed by Gorce (1994). Furthermore, the authors propose an approach to solve dynamically the stepping motion. It is based on "Admissible control Domain" notion, which relies on the relative position of the biped to the obstacle and the obstacle dimensions. Finally, this approach constitute decision module based on learning process to realize stepping motion. The authors compare simulation results to experimental data.