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December 14, 2009

Administration
  • Next lab meeting Jan. 4th: Deneve et al. 2007; Fiete et al. 2004
  • Look at Neuromechanic on the 30th

Show-and-tell
  • Linearization of four-bar linkage: Ankle-angle to CoM position
    • Objective
      • Determine equivalence to Ting-Lockhart pendulum model
    • Rationale
      • Want to be able to use the inverted-pendulum model
    • Method
      • Linearization of the geometry relating Ankle angle to CoM excursion
    • Main Result
      • The height of the CoM of the 4-bar changes with stance-width and can be used as the equivalent height for the inverted pendulum
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