- Tytuł:
- The maximum principle of Pontryagin in control of twolegged robot based on human walking system
- Autorzy:
- Żur, K. K.
- Powiązania:
- https://bibliotekanauki.pl/articles/955163.pdf
- Data publikacji:
- 2014
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
staw kolanowy
mięśnie stawu kolanowego
cykl Hamiltona
state equations
maximum principle
optimal conditions
discrete Hamilton function - Opis:
- In the paper a hypothesis about state equations of human gait is presented. Instantaneous normalized power developed by human muscles at particular joints of a leg is a control vector in state equations of the human walking system. The maximum principle of Pontryagin in analysis of dynamic human knee joint was presented. The discrete Hamilton function of a knee joint is similar to a discrete square function of normalized power developed by muscles at the knee joint. The results satisfy optimal conditions and could be applied in control of exoskeleton and DAR type robot.
- Źródło:
-
International Journal of Applied Mechanics and Engineering; 2014, 19, 2; 407-417
1734-4492
2353-9003 - Pojawia się w:
- International Journal of Applied Mechanics and Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł