Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-11573
Authors: Drama, Özge
Title: Control mechanisms for postural stability and trunk motion in bipedal running : a numerical study for humans, avians, and bipedal robots
Issue Date: 2021
metadata.ubs.publikation.typ: Dissertation
metadata.ubs.publikation.seiten: xi, 168
URI: http://elib.uni-stuttgart.de/handle/11682/11590
http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-115900
http://dx.doi.org/10.18419/opus-11573
Abstract: In this dissertation, we investigate bio-inspired postural control mechanisms for bipedal running that actively use trunk oscillations to generate natural gaits. To this end, we employ a simplified template model, the spring-loaded inverted pendulum model with a trunk (TSLIP), which captures the essential characteristics of bipedal locomotion. Based on this model, we thoroughly investigate a recent bio-inspired control method called the virtual point control, which directs the ground reaction forces toward a single virtual point, and evaluate the resulting gait characteristics and energetics both in simulation and based on real-world data. We show that the virtual point control is a good candidate for achieving postural stability in running and can inspire better controllers for future legged robots and exoskeletons.
Appears in Collections:07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

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