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biped-locomotion
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Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion
, Article Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine ; Volume 223, Issue 6 , 2009 , Pages 663-675 ; 09544119 (ISSN) ; Meghdari, A ; Vossoughi, G ; Sharif University of Technology
2009
Abstract
The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of...