Simplification of the Hill Muscle Model Computation for Real-Time Walking Controllers with Large Time Steps
(2014) Dynamic Walking — Location: Zurich (10.June.2014)
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- Abstract
- Bio-inspired controllers are emerging as a promising way to implement dynamic walking. In this study, we implemented the one proposed by Geyer & Herr (2010), relying on reflex-controlled virtual Hill muscles. In this model, muscles’ state is determined by the length (lce) of their active, contractile element. However, its update rate is governed by a stiff and strongly non-linear state equation, thus requiring a small integration time step.
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Van der Noot, N., Dzeladini, F., Ijspeert, A. J., & Ronsse, R. (2014). Simplification of the Hill Muscle Model Computation for Real-Time Walking Controllers with Large Time Steps. Dynamic Walking, Zurich. https://hdl.handle.net/2078.5/195392