The Maximum Principle of Pontryagin in Control of Twolegged Robot Based on Human Walking System

Autor:	K.K. Żur
Jazyk:	angličtina
Rok vydání:	2014
Předmět:	state equations maximum principle optimal conditions discrete hamilton function Mechanical engineering and machinery TJ1-1570
Zdroj:	International Journal of Applied Mechanics and Engineering, Vol 19, Iss 2, Pp 407-417 (2014)
Druh dokumentu:	article
ISSN:	1734-4492 2353-9003
DOI:	10.2478/ijame-2014-0027
Popis:	In the paper a hypothesis about state equations of human gait is presented. Instantaneous normalized power developed by human muscles at particular joints of a leg is a control vector in state equations of the human walking system. The maximum principle of Pontryagin in analysis of dynamic human knee joint was presented. The discrete Hamilton function of a knee joint is similar to a discrete square function of normalized power developed by muscles at the knee joint. The results satisfy optimal conditions and could be applied in control of exoskeleton and DAR type robot.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/58ebe69e5d0143f5b7b978664a08ac10 Zobrazit plný text záznamu View record in DOAJ