The Maximum Principle of Pontryagin in Control of Twolegged Robot Based on Human Walking System

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Abstract

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.

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International Journal of Applied Mechanics and Engineering

The Journal of University of Zielona Góra

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CiteScore 2017: 0.39

SCImago Journal Rank (SJR) 2017: 0.153
Source Normalized Impact per Paper (SNIP) 2017: 0.331

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