ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 63 / September, 2020

DOI 10.17586/0021-3454-2016-59-8-690-694

UDC 004.94


P. P. Kovalenko
ITMO University, Department of Mechatronics; Associate Professor

I. A. Ovchinnikov
ITMO University, Department of Mechatronics;; Student

T. M. Vu
Tallinn University of Technology, Department of Mechatronics; Professor

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Abstract. A model of a five-link mechanism imitating human lower limbs movements is developed with the use of MatLab/Simulink. Approximate trajectories of lower limbs aren calculated analytically using equations of dynamics and their subsequent simplification. The simulation is performed with the use of MPC controller that calculates the required forces using analytically defined trajectories.
Keywords: five-link mechanism, gait modeling, gait dynamics, trajectories of lower limbs movements, MPC controller

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