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Control of lower limb 박황필. Foot as a Set of Functions Input (reference motion, Key frame, …) Controller Foot Controller Character.

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Presentation on theme: "Control of lower limb 박황필. Foot as a Set of Functions Input (reference motion, Key frame, …) Controller Foot Controller Character."— Presentation transcript:

1 Control of lower limb 박황필

2 Foot as a Set of Functions Input (reference motion, Key frame, …) Controller Foot Controller Character

3 Foot as a Set of functions Center of mass modulation Torque generation Shock mitigation …

4 Foot as a Set of Functions

5 Controlling ground reaction force

6

7 Finding control torques to get a desired ground reaction force

8 Controlling ground reaction force Finding control torques to get a desired ground reaction force Desired ground reaction force State of character Control torque

9 Controlling ground reaction force Finding control torques to get a desired ground reaction force Based on LCP methods. Desired ground reaction force State of character Control torque

10 Linear complementarity problem

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12 3 complementarity conditions to satisfy Coulomb’s Law of Friction and non-penetration

13 Linear complementarity problem 1.Non-penetration Normal force and normal velocity should be positive. 2.Direction of friction Direction of friction should be opposite to velocity. 3.Magnitude of friction GRF should lie on the friction cone.

14 Linear complementarity problem n i d i4 d i3 d i1 d i5 d i6 d i2

15 LCP formulation

16

17 variables

18 LCP formulation Fixed value variables

19 LCP formulation Fixed value-> variables variables

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21 Current formulation

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