Analysis of walking and balancing models actuated and controlled by ankles
Name
153280310-MIT.pdf
Description
Full printable version
Size
8.58 MB
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Checksum (MD5)
41779836d29d311f53e40a41c90993b7
Author(s)
Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology
Advisor(s)
Neville Hogan.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
Experimental data show that ankle torque is the most important actuator in normal human locomotion. I investigate the dynamics of simple models actuated by ankles alone. To assess the contribution of ankle actuation to locomotion, I first analyze the dynamics of some passive walkers without any joint torque. These passive walkers include a rimless wheel model and springy-legged models with and without a double stance phase. I analyze the stability of the period-one gait of each passive walker to compare it with the stability of the period-one gait of an ankle actuated model. Subsequently, I investigate whether balancing of a double inverted pendulum model whose shape and mass distribution are similar to a human can be achieved by control of ankle torque in a frontal plane. I study the dynamics of the model and design a controller that makes the model balance with biologically realistic ankle torque and a reasonable foot-floor friction coefficient. I conclude that an ankle-actuated model can make a stable period-one gait in a sagittal plane. Also, I deduce that the ankle torque control in a frontal plane can stabilize a double inverted pendulum model whose shape and mechanical properties are similar to those of humans.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (p. 181-182).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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