Integration of an adaptive swing control into a neuromuscular human walking model
Abstract
Understanding the neuromuscular control underlying human locomotion has the potential to deliver practical
controllers for humanoid and prosthetic robots. However, neurocontrollers developed in forward dynamic simulations are
seldom applied as practical controllers due to their lack of
robustness and adaptability. A key element for robust and
adaptive locomotion is swing leg placement. Here we integrate
a previously identified robust swing leg controller into a full
neuromuscular human walking model and demonstrate that
the integrated model has largely improved behaviors including
walking on very rough terrain (±10cm) and stair climbing
(15cm stairs). These initial results highlight the potential of the
identified robust swing control. We plan to generalize it to a
range of human locomotion behaviors critical in rehabilitation
robotics.
BibTeX
@conference{Song-2013-102720,author = {Seungmoon Song and Ruta Desai and Hartmut Geyer},
title = {Integration of an adaptive swing control into a neuromuscular human walking model},
booktitle = {Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '13)},
year = {2013},
month = {July},
pages = {4915 - 4918},
}