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- Berbyuk, Viktor, 1953, et al.
(author)
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Linear viscoelastic actuator-based control system of a bipedal walking robot
- 1998
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In: In MECHATRONICS'98, Proceedings of the 6th UK Mechatronics Forum International Conference, Editors J. Adolfsson and J. Karlsen, Skövde, Sweden, 9-11 September 1998, Elsevier.. ; , s. 379-384
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Conference paper (peer-reviewed)abstract
- The optimisation approach for designing of the rotational spring-damper actuators providing the programmed goal-directed motion of a bipedal walking robot is proposed. The problem is formulated as an approximation procedure for the controlling torques acting at the joints of the robot during its optimal motion. Analysis of the obtained numerical results has shown that the anthropomorphic energy-optimal goal-directed motion of the bipedal walking robot could be generated by the rotational spring-damper actuators with one switching of each of their parameters during the double step of the robot.
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| 4. |
- Berbyuk, Viktor, 1953, et al.
(author)
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Mathematical design of energy-optimal femoral prostheses
- 2001
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In: J. of Mathematical Sciences. ; 107:1, s. 3647-3654
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Journal article (peer-reviewed)abstract
- A new formulation of the problem of designing a femoral prosthesis is proposed. This formulation reduces to solving the problem of the energy-optimal control with pa-rameters for a nonlinear multidimensional mechanical system that models the human locomotor system with a femoral prosthesis. The results of numerical solution of the optimal control problem for two types of prostheses with pneumatic and hydraulic knee mechanisms are described.
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| 7. |
- Berbyuk, Viktor, 1953, et al.
(author)
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Modeling of human locomotion with artificial lower extremities
- 1994
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In: Biomechanics Seminar. - 1100-2247. ; 8, s. 167-178
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Conference paper (peer-reviewed)abstract
- To solve the problems of improvement of the existent and creation of new efficient lower limb prostheses, and to study effect of prosthesis design, as a special technical device, on kinematical dynamical energetical and other characteristics of amputee locomotion it is expedient to use wide capabilities of mathematical modelling of a human walk process on a prosthetic limb. There was proposed earlier mathematical models of biped walk having different degrees of adequacy in multitude of works. These models were used for different purposes: investigation of kinematical dynamical and energetical characteristics of human gait, working out and creation of antropomorphic walking machines, etc. In the given paper a mathematical model has been proposed for investigation of dynamics of an amputee's locomotor system with a below-knee prosthesis. Based on this model computer program has been composed. The series of problems of dynamics of a two-leggal walking, calculation of consumption of energy on motion and optimization of elastic parameters of the prosthetic foot design have been solved.
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