MBI Tutorial Dynamic Walking
98 Pages
English
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MBI Tutorial Dynamic Walking

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Downloading requires you to have access to the YouScribe library
Learn all about the services we offer
98 Pages
English

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MBI WorkshopMuscle, Limb, Brain TutorialsDay 2Art KuoUniversity of MichiganDay 2 TopicsDynamic walkingSimulationsPrinciplesBiological state estimationIntro to state estimation and controlQuestions for motor controlDynamic Walking Tutorial (Kuo) 2Dynamic Walking SimulationsMBI TutorialsArt KuoDynamic walkingDynamic Walking Tutorial (Kuo) 4Dynamic Walking SimulationsDynamic Walking Tutorial (Kuo) 5Tutorial topics: BasicsPerform dynamic walking simulationsDerive equations of motion (by computer)Derive step-to-step transition equationsMpFind limit cyclesforwardEvaluate stability θ1MEvaluate mechanical energeticsLPerform parameter studiesC− θ2Understand mechanicsRDynamic Walking Tutorial (Kuo) 6Numerical integration of ODEsEquations of motionDynamical equations of motion, mass matrixKinematical equationsState-derivative functionMpforwardSet of first-order ODEsθ1Matlab implementation with ode45MLEvent detectionC− θ2Auxiliary functions:Partial derivativesRRoot findingDynamic Walking Tutorial (Kuo) 7Equations of motionSet of first-order differential equationsState x: Positions & velocities of segments, or equivalentx =ft ,x()MpforwardSolve initial value problemθ1MState-derivative function Lrequires equations of motionC− θ2RDynamic Walking Tutorial (Kuo) 8Initial value problemsIn general,xf= t,x x state vector( )Ex: Block sliding on plane, viscous frictionMv+=Bv 0 Generally a “mass ...

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