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VP above or below? A new perspective on the story of the virtual point

2020

Poster

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The spring inverted pendulum model with an extended trunk (TSLIP) is widely used to investigate the postural stability in bipedal locomotion [1, 2]. The challenge of the model is to define a hip torque that generates feasible gait patterns while stabilizing the floating trunk. The virtual point (VP) method is proposed as a simplified solution, where the hip torque is coupled to the passive compliant leg force via a virtual point. This geometric coupling is based on the assumption that the instantaneous ground reaction forces of the stance phase (GRF) intersect at a single virtual point.

Author(s): Oezge Drama and Alexander Badri-Spröwitz
Year: 2020
Month: May

Department(s): Dynamic Locomotion
Bibtex Type: Poster (poster)
Paper Type: Conference

Digital: True
Event Name: Dynamic Walking
URL: https://www.seas.upenn.edu/~posa/DynamicWalking2020/601-869-1-RV.pdf
Attachments: Poster
Abstract

BibTex

@poster{drama2020a,
  title = {VP above or below? A new perspective on the story of the virtual point},
  author = {Drama, Oezge and Badri-Spr{\"o}witz, Alexander},
  month = may,
  year = {2020},
  url = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/601-869-1-RV.pdf},
  month_numeric = {5}
}