Regensburg 2004 – wissenschaftliches Programm
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DY: Dynamik und Statistische Physik
DY 46: Poster
DY 46.35: Poster
Donnerstag, 11. März 2004, 16:00–18:00, Poster D
Dynamics and Control of a 2-D Passive Dynamic Walker — •Joachim Haß1, Norbert Mayer2, and Michael Herrmann1 — 1Max-Planck-Institut für Strömungsforschung, Göttingen, Germany — 2GMD - Japan Research Laboratory Collaboration Center, Kitakyushu, Japan
From the biomechanical point of view, bipedal locomotion can be considered as the dynamics of a set of rigid bodies, connected by joints, springs, and specifically placed actuators. A passive walker [1] is an even more simplified model which is capable of stable walking on a downhill slope with no actuation or control whatsoever.
Combining experimental, numerical and theoretical methods, stability and speed of a modified walker closer to human gait dynamics were examined. Both of them crucially depended on precise tuning of the walkers internal parameters, which were optimized using a genetic algorithm in the numerical simulations.
The basins of attraction in parameter space could be significantly broadened by incorporating actuators and nonlinear control algorithms into the model. Aside from increasing the walker’s stability, this also enabled it to walk very efficiently on arbitrarily shallow slopes at a range of different speeds. Furthermore, we considered more biologically motivated forms of control, like synchronizing the body movements with a central pattern generator.
[1] McGeer T. (1993) Int. J. Robotics Res. 9:2, 62-82.