Leg Function in Humans & Humanoids
Outline
Human Gait Humanoid Gait Model Gait
Comparison
2 Leg function What is a good model?
3
Leg function in robots
Scout II iSprawl
EduBot (based on Rhex) Kenken
Review: Zhou & Bi (2012) Bioinspir & Biomimetics
4 Human leg function
Video: Sten Grimmer
5
Level of Complexity
2012-02-10 | PAK 146, Köln | TU Darmstadt AG Lauflabor | Seyfarth | 6 6 Global Leg Function
RLF Radial Leg Function
RTF Tangential Leg Function
7 Christian Rode 7
Radial Leg Function in human walking and running
speed
Radial Leg Force
Leg Length Kovac 2010
Force- Length Function Susanne Lipfert
8 2009 WalkingDynamic et Owaki al. Dai Self-stable locomotion?Self-stable Hip stiffness (khip) Runner Dynamic Passive Hip stiffness (khip)
ICRA et Owaki al. (2008) Dai RENNEN RENNEN Leg stiffnessLeg ( stiffnessLeg ( RUN k k leg leg GEHEN GEHEN ) )
WALK Hip spring spring Hip Leg spring spring Leg 10 9 Passive Dynamic Runner
Dai Owaki et al. 2009 Dynamic Walking 11
Model for stable walking and running
Geyer et al. (2006) Proc Roy Soc Lond B 12 Bipedal Spring-Mass Model (BSLIP)
Hartmut Geyer
WALK RUN
GRF = " vertical GRF vertical GRF ground reaction force
Geyer et al. (2006) Proc Roy Soc Lond B 13
Spring-Mass Model = spring-loaded inverted pendulum (SLIP)
What does this model assume? COM • Forces are pointing to center of mass (COM) • Forces are proportional to leg compression • Fixed foot point (FP) at ground
Model validation • Comparison with experimental data FP
Trunk Body Segments Leg segments Extensions of the model 3D Locomotion Muscle arrangement Neuromuscular mechanisms
Geyer et al. (2006) Proc Roy Soc Lond B 14 Spring-like leg operation in walking and running?
Spring-like leg function?
Rennen Gehen
Susanne Lipfert (2009) Dissertation Spring-like leg function?
Running Walking
TD TD
TD = touch down, TO = take off, c = contralateral leg Susanne Lipfert (2009) Dissertation
Elastic leg function in a segmented leg
SE1042/6
BioBiped Project (with SIM group, Prof. von Stryk)
18 Elastic leg function in a segmented leg
Alternating hopping (contacts: left-right-left)
SE1042/6
BioBiped Project (with SIM group, Oskar von Stryk)
19
Global leg function
Body alignment POSTURE
Spring-like leg Leg alignment
BOUNCE SWING
Seyfarth et al., 2012 AT
20 Body posture
Virtual Pivot Point VPP concept
Maus et al. (2010) Nature Communications 22 Hip torques
Leg spring
Maus et al. (2010) Nature Communications 23
Virtual Pivot Point VPP model
Idea: hip torque aligns " leg force towards VPP
Maus et al. (2010) Nature Communications 24 Virtual Pivot Point VPP in humans, animals and machines
Maus et al. (2010) Nature Communications 25
Virtual Pivot Point VPP model
Maus et al. (2008) CLAWAR 26 Segmented Legs
Two-joint Leg Muscles
VPP#
Christian Rode 28 Walking with Segmented Legs
VPP by two-joint thigh muscles
VPP#
Rode & Seyfarth Dynamic Walking 2013
Christian Rode 29
Standing with Segmented Legs
VPP by two-joint thigh muscles
Christian Rode 30 Templates and Anchors Full, R. J. and Koditschek (1999) J. Exp. Biol.
Mechanical template models
BOUNCE POSTURE SWING ✔ ✔ ✗
enhance model complexity
Neuro-muscular representations
BOUNCE ✔ POSTURE ✗ SWING ✗
31
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