MODELLING AND CONTROL OF THE GAIT INITIATION PROCESS

摘要

This paper focuses on cybernetical computational method to solve the dynamic stability of a biped robot during gait initiation. It is based on the dynamic control/command scheme previously developed by Gorce. This latter has been used, to ensure the dynamic stability during postural control, and specially under perturbation effect. We study the gait initiation process when a subject initially at rest perform a first step in order to walk. During each phase from single support to double support, the proposed control strategy allows the adaptation of some specific constraints and criterion in order to ensure the stability of the biped along the task execution. Three dimensions human body mechanical structure is considered. Simulations results are presented to demonstrate criteria and constraints influences on the dynamic stability.