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