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

journal contribution
posted on 06.12.2017, 00:00 authored by Sanath AlahakoonSanath Alahakoon, L Samaranayake
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.

Funding

Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)

History

Volume

1301

Start Page

192

End Page

196

Number of Pages

5

eISSN

1873-6157

ISSN

0531-5131

Location

Netherlands

Publisher

Elsevier BV

Language

en-aus

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

University of Peradeniya;

Era Eligible

Yes

Journal

International Congress Series