This article reveals a new approach to model a humanoid gait consist of 5 and 7 links and studying the influence of feet on the overall gait dynamics. Estimated trajectories of limbs have been planned systematically based on equation of motion and their following interpretation for the human movements from their joints and muscles. The human motion is controlled by the central nervous system (CNS) based on model predictive control (MPC). In our projected representations, MPC controller analyses the essential moments at the joints, and these ideal moments are applied to the muscles. furthermore, MPC controller acts the role of the spinal cord in the humanoid CNS. The outcomes of simulation are compared with several examples of real humanoid gait, gained from motion captured systems. According to comparison, the possibility of additional use of the model for individual identification and acknowledgement of gait eccentricities are predictable.


    Access

    Download


    Export, share and cite



    Title :

    Predictive Control Model to Simulate Humanoid Gait: Predictive Control Model to Simulate Humanoid Gait


    Contributors:

    Publication date :

    2019-10-21


    Remarks:

    International Journal of Innovative Technology and Interdisciplinary Sciences; Vol. 1 No. 1 (2018): International Journal of Innovative Technology and Interdisciplinary Sciences - Volume 1, Issue 1; 9-17 ; 2613-7305


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Humanoid robot gait control method

    WEI FEI / ZHOU WENMING | European Patent Office | 2024

    Free access

    Stable Dynamic Walking Gait Humanoid

    Daut, Mohamad Noraffandi / Azyze, Nur Latif / Sanhoury, Ibrahim M. H. et al. | Springer Verlag | 2013


    Stable Dynamic Walking Gait Humanoid

    Daut, M.N. / Azyze, N.L. / Sanhoury, I.M.H. et al. | British Library Conference Proceedings | 2013


    Emotional gait generation for a humanoid robot

    Xie, L. / Wang, Z. L. / Wang, W. et al. | British Library Online Contents | 2010


    Predictive Whole-Body Control of Humanoid Robot Locomotion

    DAFARRA, STEFANO | BASE | 2020

    Free access