Knowledge Commons of Institute of Automation,CAS
Joint role exploration in sagittal balance by optimizing feedback gains | |
dengpeng xing; Jianbo Su | |
发表期刊 | Robotica |
2015 | |
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 | 中科院工业视觉智能装备工程实验室_精密感知与控制 |
推荐引用方式 GB/T 7714 | 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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Robotica2015.pdf(570KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
个性服务 |
推荐该条目 |
保存到收藏夹 |
查看访问统计 |
导出为Endnote文件 |
谷歌学术 |
谷歌学术中相似的文章 |
[dengpeng xing]的文章 |
[Jianbo Su]的文章 |
百度学术 |
百度学术中相似的文章 |
[dengpeng xing]的文章 |
[Jianbo Su]的文章 |
必应学术 |
必应学术中相似的文章 |
[dengpeng xing]的文章 |
[Jianbo Su]的文章 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论