Modelling of human body control scheme and learning in stepping motion over an obstacle

The aim of our study is to better understand the decision mechanisms of the human body during the stepping motion over an obstacle. We based our study on experimental protocol in order to determine behavioural laws. We used a biomechanical model of the human body called “BIPMAN” and a dynamic control scheme for the stepping task previously developed by Gorce (1994). Furthermore, we propose an approach to solve dynamically the stepping motion. It is based on “admissible control domain” notion, which relies on the relative position of the biped to the obstacle and the obstacle dimensions. Finally, this approach constitutes a decision module based on learning process to realize stepping motion. We compare simulation results to experimental data