Angular Momentum Primitives: Modeling of Transients in Human Walking


Transients occur in human walking during a transition to, from, and between steady state walking and acts as an impulse destabilizing a gait cycle. Turns, rapid stops, and accelerated starts are all common transients encountered and managed intelligently by humans everyday. Humanoid bipeds are rapidly becoming a more common part of our everyday life. Therefore, they must also be able to navigate our environments adroitly if they are to assist us in our daily living. This project takes biomechanical principals of angular momentum and applies them to design of controllers for bipeds using angular momentum primitives. These primitives are basic units that simplify the control problem and reduce the dimensionality of the state-space and the objective task. The task in this project is to accomplish transient behaviors and steady state walking together. Through this we are able to realize a more efficient and effective control for humanoid robots.