Title :
Ground reaction force analysis of biped locomotion
Author :
Yuksel, Basak ; Zhou, Changjiu ; Leblebicioglu, Kemal
Author_Institution :
Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey
Abstract :
This paper aims to analyze the ground reaction force in terms of smooth transition and landing impact under the parametric change of frontal gait trajectory that is realized by inverted pendulum model and the parametric change in the proportional gain of PID feedback controller. Using a dynamic simulator, namely, SL simulator, the ground reaction force analysis is realized and the simulation results and comparison of them are presented.
Keywords :
feedback; legged locomotion; nonlinear control systems; pendulums; robot dynamics; three-term control; PID feedback controller; SL simulator; biped locomotion; dynamic simulator; frontal gait trajectory; ground reaction force analysis; inverted pendulum model; landing impact; smooth transition; Analytical models; Control systems; Foot; Force control; Force feedback; Fourier series; Humans; Legged locomotion; Pathology; Robots;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438940
