Figure 1
From: Bioinspired preactivation reflex increases robustness of walking on rough terrain
Model, control strategy, and experimental setting. (a) The model of Geyer and Herr31 contains three joints per leg. Ground contact is modeled with two contact points per foot (heel, toe). (b) Each leg of the model is actuated by seven muscles (red), which are stimulated by a set of reflexes (gray) based on trunk angle, ground contact, leg loading, joint angle, force (F) and length (L) information. (c) We add preactivation to the model as an additional reflex, using length information from the hamstrings (blue). The rest of the control remains identical to the model of Geyer and Herr31. During the step-down perturbation, the ground is lowered by \(h_\text {s}\) after \(n_\text {s}\) strides synchronized to the gait cycle. Figures adapted from31.
