The Maximum Principle of Pontryagin in Control of Twolegged Robot Based on Human Walking System
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 kne...
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| Format: | Article |
| Language: | English |
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Sciendo
2014-05-01
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| Series: | International Journal of Applied Mechanics and Engineering |
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| Online Access: | https://doi.org/10.2478/ijame-2014-0027 |