ALGORITHMS FOR A STRUCTURAL MODEL OF BIPED LOCOMOTION IN THE CONFIGURATION SPACE
Javier Finat · 2000
Mechanical models for locomotion are strongly hierarchised depending on the gait phase, tasks to be performed and constraints. There is an alternance between different constraints involving to different phases of any locomotion. This alternance suggests a hybrid approach for the algorithms design, with coarse-to-fine models for the automatic selection of rules relative to geometric motion planning, adaptive control and monitoring forces. One introduces doubly connected lists for the geometric data representation and updating of incidence elements between lines supporting actions with the corresponding pointers to points and planes. This geometric model supports the existence of spatio-temporal symmetries linked to spatial rigid transformations into the ambient space for representation and in the architecture for motion simulation, and to temporal alternant patterns for periodic motions. Both of them can be represented in terms of reflections which provide a modular approach to the design and implementation of algorithms. Velocity fields involving to mobile data provide tools for spatial replication and periodicity phenomena and give modular, adaptable and reconfigurable patterns for the algorithms implementation.