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Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model

Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model. Salem Cherenet Biomechanics and Motor Controls Final Presentation Dec 13,2011. Objective. Develop a reactive balance controller for foot placement in biped legged locomotion

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Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model

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  1. Reactive Balance Control in Walking based on a Bipedal Linear Inverted Pendulum Model Salem Cherenet Biomechanics and Motor Controls Final Presentation Dec 13,2011

  2. Objective • Develop a reactive balance controller for foot placement in biped legged locomotion • Verify the results from F.Parietti, G.Hartmut (2011)

  3. Motivation • A simple model for gait analysis • Base for Biped Linear inverted Pendulum (bLIP) model in 3D

  4. Left Stance Right Stance EOM Integrator S-R Flip-Flop S-R Flip-Flop Left Swing Right Swing

  5. Results • Matlab-Simulink Simulation of BLIP

  6. Future Work • Debug the controller model • Compare results with results from F.Parietti, G.Hartmut (2011) • Extend the theory into 3D

  7. Questions?

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