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A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking

Summary: A Human-Inspired Hybrid Control Approach to
Bipedal Robotic Walking
Ryan W. Sinnet
Matthew J. Powell
Rajiv P. Shah
Aaron D. Ames

Texas A&M University, Department of Mechanical Engineering,
3123 TAMU, College Station, TX 77843-3123
e-mail: {rsinnet,mjpowell,rps2125,aames}@tamu.edu
Abstract: A human-inspired method for achieving bipedal robotic walking is proposed in which a hybrid
model of a human is used in conjunction with experimental walking data to obtain a multi-domain
hybrid system. Walking data were collected for nine test subjects; these data are analyzed in terms of
the kinematics of walking. In bipedal walking, certain points on the body are constrained for various
intervals throughout the gait; this phenomenon is used to formally break the gait into walking phases.
The results indicate that all of the nine subjects had the same breakdown with similar times spent in
each phase; in other words, this specific breakdown likely represents a canonical human model. Using
this canonical breakdown, a controller is designed for a robotic model which mimics human kinematics
behaviors by tracking functions of the kinematics--this controller is applied in simulation, resulting in
stable walking which is remarkably humanlike in nature.


Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University


Collections: Engineering