Using Spring-Damper Elements to Support Human-Like Push Recovery Motions

摘要

This paper studies push recovery of humans while walking which is an important research topic in biomechanics and robotics bringing systems to their limits. The main goal of the presented research is to determine which passive elements can best support given push recovery motions. The research is based on a multi-body system model of human walking in the sagittal plane, which has active torques in all joints and parameterized spring damper torques in parallel in the lower limb joints. In addition, we use recorded data of human push recovery and the solution of least squares optimal control problems. The results show that a significant reduction of the active torques required for the motion can be achieved including the spring-damper elements. This approach can be applied to component design of humanoid robots.