Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model Salem Cherenet...

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Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model lem Cherenet omechanics and Motor Controls nal Presentation c 13,2011

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Transcript of Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model Salem Cherenet...

Page 1: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

Results

• Matlab-Simulink Simulation of BLIP

Page 8: Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model Salem Cherenet Biomechanics and Motor Controls Final Presentation.

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 Salem Cherenet Biomechanics and Motor Controls Final Presentation.

Questions?


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