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

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.