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By Vepa R.

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The cycle is composed of a swing phase and a support phase with two instantaneous changes in velocity corresponding to the ground collisions. As the basin of attraction of the stable limit cycle is a narrowband of states surrounding the steady-state trajectory, the goal of control action is to apply torques at the joints and ankles in order to produce a stable limit cycle gait, with a relatively larger basin of attraction that is invariant to small slopes. This is a unique application of control engineering, in which the control action is required to increase the stability margins of what is normally considered to be a dynamical equilibrium state.

In the figure, the central gear wheel is the Sun, and the gear wheel meshing with it, which not only rotates about a pin mounted on the carrier link but also revolves about the central gear wheel in a circular orbit, is the planet. The planet also meshes with the internal annulus. When the planet carrier is held stationary and not allowed to rotate, the planet wheel acts as an idler and the gears form a simple gear train with the Sun wheel rotating the annulus. On the other hand, when the Sun wheel is rotated, say, clockwise, the planet wheel is driven about its axis in a counterclockwise direction while rolling inside the annulus and carrying the planet carrier in the clockwise direction.

Of the three remaining DOFs in the supporting mode, one represents the relative motion between the legs whereas the other two represent the motion of the foot at the ankles. When the model is in a walking mode, only one leg assumes the supporting role while the other assumes the role of a swing leg. While the support or stance leg continues to be rigid, the swing leg hinges at the knee. The swing phase then commences with the toe of the swing leg leaving the ground, the body translating forward with the support leg hinged on the ground.

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