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

Żur K. K.

International Journal of Applied Mechanics and Engineering

2014

Vol. 19, no. 2

407--417

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.