Interpretation of Human Balance Control Based on an Optimal Control Model
نویسندگان
چکیده
where , , , and are the weights of different relevant physical quantities. The weighting matrices Q, R, and N were easily determined by converting the performance index (3) into standard form (2). After knowing the weighting matrices and state equations (1), we obtained the optimal state feedback gain K by solving the Riccati equation (Naidu, 2003). An optimization procedure, whose objective was to minimize a scalar error function of COP measures, was used to determine the values of model parameters so that the simulation results could best match the experimental results. 1 a 2 a 3 a 4 a
منابع مشابه
Control of Electric Wheelchair Suspension System based on Biodynamic Response of Seated Human Body
Electric wheelchair is one of the equipment to be used by the incapacitated and disable people. Constant exposure to vibration affects human comfort and health. Reducing the vibrations transmitted to the human body is important in the electric wheelchair design and becomes a healthcare industry demand. This paper deals with the study on vibration control of the electric wheelchair suspension sy...
متن کاملReconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot
This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...
متن کاملReceding Horizon Based Control of Disturbed Upright Balance with Consideration of Foot Tilting(RESEARCH NOTE)
In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...
متن کاملTrajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...
متن کاملSynthesis of human facial expressions based on the distribution of elastic force applied by control points
Facial expressions play an essential role in delivering emotions. Thus facial expression synthesis gain interests in many fields such as computer vision and graphics. Facial actions are generated by contraction and relaxation of the muscles innervated by facial nerves. The combination of those muscle motions is numerous. therefore, facial expressions are often person specific. But in general, f...
متن کاملUsing BELBIC based optimal controller for omni-directional threewheel robots model identified by LOLIMOT
In this paper, an intelligent controller is applied to control omni-directional robots motion. First, the dynamics of the three wheel robots, as a nonlinear plant with considerable uncertainties, is identified using an efficient algorithm of training, named LoLiMoT. Then, an intelligent controller based on brain emotional learning algorithm is applied to the identified model. This emotional l...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006