Doctoral Research Seminar on "Simulating bipedal walking using a translating center of pressure"
Doctoral Research Seminar on "Simulating bipedal walking using a translating center of pressure" by Karna Potwar, Human-Centered HRI (Prof. Lee)
Abstract: Human walking is a complex activity requiring coordination of several body parts. During walking friction from the ground prevents our feet from slipping, in turn, pushing our body forward. The foot-ground contact is often modeled as a xed pivot in bipedal models. The xed pivot models, however, cannot capture the characteristic of human walking as the pivot point translates from heel to the toe. In this study, we propose a novel bipedal model, called SLIPCOP , which employs a translating center of pressure (COP) on the basis of the spring loaded inverted pendulum (SLIP) model. The translating COP is formulated as the weighted acceleration of the center of mass (COM) in the fore aft direction. SLIPCOP reproduces similar COP speed trajectory in fore-aft direction to observed human walking data. SLIPCOP model underestimates COM amplitude and swing-to-stance duration ratio for low to medium walking speeds compared to SLIP. SLIPCOP model provides a value of around 1.4 for the virtual pivot point (VPP) length factor compared to the value of 1.8, which is observed from human walking. Overall, SLIPCOP is reliable in estimating the behavior of COP and provides solutions for fast walking speeds compared to SLIP.
24 July 2019,16:30h, ICS Karlstraße 45, 6. Floor, room 6009
For more info please visit: http://web.ics.ei.tum.de/~ehrlich/ICS_seminar/index.htm