Publication
第36回自律分散システム・シンポジウム, 54-55 (2024)
Optimization Method for Human Gait in 3-dimensional musculoskeletal model (in Japanese)
Author
R. Chiba, Y. Omura, K. Kaminishi, K. Takakusaki, J. Ota
Category
Conference paper
Abstract
In this study, we propose a method to design a control model for 3D gait using a musculoskeletal model of 70 muscles. We propose a method to design feedforward control and feedback control separately, and to perform optimization to release degrees of freedom step by step in each design. As a result, a 5-second gait was achieved. However, we also confirmed that the gait was an external gait, which needs to be solved in the future.
