Biologically realistic walking pattern emulator using linear electro-mechanical actuators with augmented nonlinear control

Autor:	Lilantha Samaranayake, Sanath Alahakoon
Rok vydání:	2007
Předmět:	Engineering business.industry Lift (data mining) Vertical plane General Medicine Nonlinear control Swing Electromechanical actuator Nonlinear system Control theory business Actuator Simulation Muscle force
Zdroj:	International Congress Series. 1301:192-196
ISSN:	0531-5131
DOI:	10.1016/j.ics.2006.11.018
Popis:	The hind leg movement of a cat has four basic phases called Stance, Lift off, Swing and Touch down. In this research project, the complete movement of each hind leg in a vertical plane is assumed to be obtained by proper activation of seven muscles. The final target here is to propose suitable design suggestions for a linear electromechanical actuator, which could successfully emulate dynamic properties of a muscle, when augmented with nonlinear behaviours of real muscles using control. This paper will describe the proposed control methodology.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8ff9847ca8535e586589bf74350a33de https://doi.org/10.1016/j.ics.2006.11.018 Zobrazit plný text záznamu Full Text from ScienceDirect