The maximum principle of Pontryagin in control of twolegged robot based on human walking system

• Autorzy: Żur K. K.

Identyfikatory

DOI

10.2478/ijame-2014-0027

• Języki publikacji: EN

Abstrakty

EN

In the paper a hypothesis about state equations of human gait is presented. Instantaneous normalized power developed by human muscles at particular joints of a leg is a control vector in state equations of the human walking system. The maximum principle of Pontryagin in analysis of dynamic human knee joint was presented. The discrete Hamilton function of a knee joint is similar to a discrete square function of normalized power developed by muscles at the knee joint. The results satisfy optimal conditions and could be applied in control of exoskeleton and DAR type robot.

Słowa kluczowe

EN

state equations; maximum principle; optimal conditions; discrete Hamilton function

PL

staw kolanowy; mięśnie stawu kolanowego; cykl Hamiltona

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2014
• Tom: Vol. 19, no. 2
• Strony: 407--417
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr.

Twórcy

autor

Żur K. K.

• Department of Production Management Faculty of Management Technical University of Bialystok Ojca Tarasiuka 2 Street, 16-001 Kleosin, POLAND

Bibliografia

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• [2] Eykhoff P. (1980): Identification in dynamics system. - Warsaw: PWN.
• [3] Jaworek K. (1992): Method of evaluation of human locomotion for running and walking. - Work of Institute of Biocybernetics and Biomedical Engineering Polish Academy of Sciences, vol.32, Warsaw.
• [4] Pontryagin L.S. (1983): Mathematical theory of optimal process. - Moskva: Nauka Press.
• [5] Winter D.A. (1991): The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological (second edition). - University of Waterloo Press.
• [6] Tou J.T. (1964): Theory of control. - Warsaw: N-T Press.
• [7] Żur K.K. (2011): A new idea of modelling and dynamic analysis of human walking apparatus. - Acta Mechanica et Automatica, No.1, Bialystok, pp.148-153.
• [8] Żur K.K. and Jaworek K.A. (2011): New idea of control of walking anthropomorphic DAR type robot, Measurements Control Robotic - Industrial Research Institute for Automation and Measurements, No.2, Warsaw, pp.462-473.
• [9] Żur K.K. (2011): A new idea of modelling and dynamic analysis of human walking apparatus. - Acta Mechanica et Automatica, No.1, Bialystok, pp.148-153.
• [10] Żur K.K. (2013): Identification of steady and non-steady gait of human-exoskeleton walking system. - International Journal of Applied Mechanics and Engineering, vol.18, No.3, pp. 923-933.