Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

AbstractIn order to achieve the practical characteristics of natural bipedal walking, a key feature is to realize "the straight knee state of walking" during stance and swing motions. Considering a straight knee necessitates that the shank link of each leg not to undergo the rotation angles which are greater than that of the thigh link. For this purpose, various methods have been proposed; the joint self-impact constraint has been suggested for energy-efficient (natural) bipedal walking while realizing the straight knee constraint.The prominent objective of this research is to present a model ...