Biologically-inspired push recovery capable bipedal locomotion modeling through hybrid automata

@article{Semwal2015BiologicallyinspiredPR,
  title={Biologically-inspired push recovery capable bipedal locomotion modeling through hybrid automata},
  author={Vijay Bhaskar Semwal and Shiv A. Katiyar and Rupak Chakraborty and Gora Chand Nandi},
  journal={Robotics and Autonomous Systems},
  year={2015},
  volume={70},
  pages={181-190}
}
The earlier developed two stage hybrid automata is not a perfect representation of human walk as it is a combination of discrete and continuous phases and the whole human GAIT has 8 stages. Our major contribution is eight stage hybrid automata for large push recovery and various dynamic parameter studies for stable walk model. We have developed a controller to verify different stage of human locomotion by using OpenSim data for model 3DGaitModel2354 and lower extremity data. We verified the… CONTINUE READING