Line Plot from Scientific Research

Evolution of each of the six joints during a walking gait. In grey, the evolution of the joint on real-world animal data is reported, with a confidence level based on the variation over multiple cycles. Shown in red is the joint evolution for the robotic system, generated by solving the IK problem on the synergy base. As demonstrated by the matching, by solving the IK problem on the synergy subspace, we force the redundant kinematic of the system to reach Cartesian positions with biologically significant poses. This serves as an analysis of the biological equivalence in gait that arises from the use of synergies when performing IK.

DOI