@misc{Żur_Krzysztof_Kamil_The,
 author={Żur, Krzysztof Kamil},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={In the paper a hypothesis about state equations of human gait is presented. Instantaneous normalized power developed by human muscles at particular joints of a leg is a control vector in state equations of the human walking system. The maximum principle of Pontryagin in analysis of dynamic human knee joint was presented. The discrete Hamilton function of a knee joint is similar to a discrete square function of normalized power developed by muscles at the knee joint. The results satisfy optimal conditions and could be applied in control of exoskeleton and DAR type robot.},
 type={artykuł},
 title={The maximum principle of pontryagin in control of two-legged robot based on human walking system},
 keywords={state equations, maximum principle, optimal conditions, discrete Hamilton function},
}