Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
The monograph presents the results of the many-year period of studies in the field of biped locomotion and its application by a group in the Biocybernetics Department of the Institute ``Mihajlo Pupin'' as well as resuls of researchers from several other centres in the world. It consists of four chapters and two appendices. Chapter 1 considers the dynamics of biped gait. A survey of the results on mathematical modelling of biped locomotion mechanisms is given. The synthesis of anthropomorphic gait is described that is based on the original method of the prescribed synergy, known in the literature as the semi-inverse method. Appendix provides a detailed account of the method for modelling dynamics of the biped gait using Euler's angles. Chapter 2 is devoted to the problem of synthesis of the nominal dynamics of biped mechanisms. A special programming package is used which has been developed on the basis of the mathematical model using the general theorems of mechanics. The locomotion mechanism is modelled as a set of branched chains of the open configuration in the single-support gait phase, while in the double-support phase the chain representing the mechanism's leg is closed. Chapter 3 is devoted to the control of biped motion and to the problem of its stability analysis. Its first section reviews the results in the field, including also some results in the domain of realization of the artificial gait. The concept of two-stage control synthesis is used. In the first stage the control is synthesized which should ensure realization of the nominal (programmed) motion, while in the second stage (the stage of perturbed regimes), the problems considered are concerned with the gait realization under the conditions deviating from the normal ones. A special method of control synthesis at the stage of perturbed regimes is developed in which accelerations of correctional movements of the mechanism are constrained in order to prevent significant disturbances of dynamic equilibrium of the system. In addition, the problem of global feedback with respect to the position of the mechanism's foot reaction is considered, whose purpose is to prevent overturning about the foot edge. Chapter 4 presents an account on the fundamentals of the biodynamics of locomotion and of biped gait in particular. Reviewed are previous results in the field of realization of active devices in the form of exoskeleton for generating basic locomotor activity of the disabled with a special emphasis on the new results of modular design of active orthoses for a class of insufficient motor activity of human extremities. The most recent results are reviewed concerning the concept of hybrid actuator which uses the residual motor activity of the muscle system and which is additionally supplied with external energy from artificial actuators. The book should be useful not only for researchers interested in the dynamics of biped gait and its stabilization but also for more wider audience, for example, concerning mathematical modelling and simulation in other branches of biomechanics.
scientific article; zbMATH DE number 45392