Control of Emulated MDOF Human Postural Balancing Systems
碩士 === 國立中興大學 === 電機工程學系所 === 97 === The analytical understanding and applications of human postural control could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, this research dev...
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ndltd-TW-097NCHU54410812016-04-29T04:20:03Z http://ndltd.ncl.edu.tw/handle/73590978071621945304 Control of Emulated MDOF Human Postural Balancing Systems 具有多自由度的擬人體姿態平衡控制 Sheng-Lung Hsiao 蕭勝隆 碩士 國立中興大學 電機工程學系所 97 The analytical understanding and applications of human postural control could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, this research develops a two-stage feedback control law to remain the human body’s upright posture under interference of the subjective verticals. First, the movement equations for a 24 DOFs body model is determined. There are two kinds of movement equations under consideration. One is a general movement equation and the other is the equation with uncertainties. The control law consists of two parts. The primary part is designed to track the desired reference trajectory and the secondary part is developed to compensate the effects of uncertainties and disturbances. It is hoped that the control theory could be used as a basis for posture control of intelligent humanoid robots in the future. 林俊良 學位論文 ; thesis 68 zh-TW |
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碩士 === 國立中興大學 === 電機工程學系所 === 97 === The analytical understanding and applications of human postural control could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, this research develops a two-stage feedback control law to remain the human body’s upright posture under interference of the subjective verticals. First, the movement equations for a 24 DOFs body model is determined. There are two kinds of movement equations under consideration. One is a general movement equation and the other is the equation with uncertainties. The control law consists of two parts. The primary part is designed to track the desired reference trajectory and the secondary part is developed to compensate the effects of uncertainties and disturbances. It is hoped that the control theory could be used as a basis for posture control of intelligent humanoid robots in the future.
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林俊良 |
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林俊良 Sheng-Lung Hsiao 蕭勝隆 |
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Sheng-Lung Hsiao 蕭勝隆 |
spellingShingle |
Sheng-Lung Hsiao 蕭勝隆 Control of Emulated MDOF Human Postural Balancing Systems |
author_sort |
Sheng-Lung Hsiao |
title |
Control of Emulated MDOF Human Postural Balancing Systems |
title_short |
Control of Emulated MDOF Human Postural Balancing Systems |
title_full |
Control of Emulated MDOF Human Postural Balancing Systems |
title_fullStr |
Control of Emulated MDOF Human Postural Balancing Systems |
title_full_unstemmed |
Control of Emulated MDOF Human Postural Balancing Systems |
title_sort |
control of emulated mdof human postural balancing systems |
url |
http://ndltd.ncl.edu.tw/handle/73590978071621945304 |
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