The present communication is a follow up and extension of the paper “The Spherical Inverted Pendulum: Exact Solutions of Gait and Foot Placement Estimation Based on Symbolic Computation” by the same author. The walk design is approached by a 3-D inverted pendulum in a polar coordinate system. The advantage of this model is to easily offer indications of the energy expenditure of an efficient walk. However, the disadvantages that were never recognized by authors previously using this model is that the COG trajectory has to pass through the supporting foot location. This causes an unnecessary and unrealistic waving in the frontal plane during gait. The problem is discussed here and solved by extending the model of the inverted pendulum by introducing the pelvis width and the distance between the hips of the two legs, without adding dynamical complexity.

The Spherical Inverted Pendulum with Pelvis Width in Polar Coordinates for Humanoid Walking Design / Menga, Giuseppe. - In: BIOMEDICAL JOURNAL OF SCIENTIFIC & TECHNICAL RESEARCH. - ISSN 2574-1241. - ELETTRONICO. - 39:5(2021), pp. 31641-31645. [10.26717/BJSTR.2021.39.006357]

The Spherical Inverted Pendulum with Pelvis Width in Polar Coordinates for Humanoid Walking Design

Menga, Giuseppe
2021

Abstract

The present communication is a follow up and extension of the paper “The Spherical Inverted Pendulum: Exact Solutions of Gait and Foot Placement Estimation Based on Symbolic Computation” by the same author. The walk design is approached by a 3-D inverted pendulum in a polar coordinate system. The advantage of this model is to easily offer indications of the energy expenditure of an efficient walk. However, the disadvantages that were never recognized by authors previously using this model is that the COG trajectory has to pass through the supporting foot location. This causes an unnecessary and unrealistic waving in the frontal plane during gait. The problem is discussed here and solved by extending the model of the inverted pendulum by introducing the pelvis width and the distance between the hips of the two legs, without adding dynamical complexity.
File in questo prodotto:
File Dimensione Formato  
BJSTR.MS.ID.006357.pdf

accesso aperto

Descrizione: Articolo principale
Tipologia: 2a Post-print versione editoriale / Version of Record
Licenza: Creative commons
Dimensione 601.86 kB
Formato Adobe PDF
601.86 kB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2947978