Publication

3LP: A linear model of locomotion including falling, swing and torso dynamics

Auke Ijspeert
2016
Posters

Abstract

In this article, we present a new linear model (3LP) for bipedal locomotion which can describe swing and torso dynamics as well as falling. Compared to traditional inverted-pendulum based models, 3LP produces more human-like center of mass trajectory and swing motion which is missing in point-mass models. Different periodic gaits can be found with 3LP and modulated online without any numerical integration. Using linearity properties, we derive closed-form solutions and a transition matrix which describe state evolution over footsteps. This matrix as well as linear inequalities on inputs and states can be used in online model predictive controllers (MPC) to guaranty feasibility, robustness and optimality of the motion. Besides, 3LP can also be a powerful tool in bio-mechanics as it provides human-like ground reaction and torque profiles.

Official source

https://infoscience.epfl.ch/entities/publication/f33297bc-3b5a-4d86-9b72-76c34e8abfaa

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Auke Ijspeert
2016
Posters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/f33297bc-3b5a-4d86-9b72-76c34e8abfaa

About this result

Related concepts (32)

Animal locomotion

Animal locomotion, in ethology, is any of a variety of methods that animals use to move from one place to another. Some modes of locomotion are (initially) self-propelled, e.g., running, swimming, jumping, flying, hopping, soaring and gliding. There are also many animal species that depend on their environment for transportation, a type of mobility called passive locomotion, e.g., sailing (some jellyfish), kiting (spiders), rolling (some beetles and spiders) or riding other animals (phoresis).

Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity. As viewed from evolutionary taxonomy, there are three basic forms of animal locomotion in the terrestrial environment: legged – moving by using appendages limbless locomotion – moving without legs, primarily using the body itself as a propulsive structure.

Linear model

In statistics, the term linear model is used in different ways according to the context. The most common occurrence is in connection with regression models and the term is often taken as synonymous with linear regression model. However, the term is also used in time series analysis with a different meaning. In each case, the designation "linear" is used to identify a subclass of models for which substantial reduction in the complexity of the related statistical theory is possible.

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