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
- Objective