Joint role exploration in sagittal balance by optimizing feedback gains
dengpeng xing; Jianbo Su
2015
发表期刊Robotica
卷号33期号:1页码:127-139
摘要This paper investigates the contributions of each joint in perturbed balance by employing multiple balance strategies and exploring gain scheduling. Hybrid controllers are developed for sagittal standing in response to constant pushes, and a hypothesis is then investigated that postural feedback gains in standing balance should change with perturbation size via an optimization approach. Related research indicates the roles of each joint: the ankles apply torque to the ground, the hips and/or arms generate horizontal ground forces, and the knees and hips squat. To investigate it from an
optimization point of view, this paper uses a horizontal push of a given size, direction, and location as a perturbation, and optimizes controllers for different push sizes, directions, and locations. It applies to the ankle, hip, squat, and arm swinging strategies in standing balance. By comparing the capability of handling disturbances and investigating the feedback gains of each strategy, this paper quantitatively analyzes the contributions of each joint to perturbed balance. We believe this work is also instructive to study the progressive behavioral changes as the model gets more and more complex.
关键词Robot Balance
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/19758
专题精密感知与控制研究中心_精密感知与控制
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dengpeng xing,Jianbo Su. Joint role exploration in sagittal balance by optimizing feedback gains[J]. Robotica,2015,33(1):127-139.
APA dengpeng xing,&Jianbo Su.(2015).Joint role exploration in sagittal balance by optimizing feedback gains.Robotica,33(1),127-139.
MLA dengpeng xing,et al."Joint role exploration in sagittal balance by optimizing feedback gains".Robotica 33.1(2015):127-139.
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