Bipedal Modeling and Decoupled Optimal Control Design of Biomechanical Sit-to-Stand Transfer

被引：7

作者：

Mughal, Asif M. ^{[1
]}

Iqbal, Kamran ^{[2
]}

机构：

[1] Univ Arkansas, Dept Appl Sci, 2801 S Univ Ave, Little Rock, AR 72204 USA

[2] Univ Arkansas, Dept Syst Engn, Little Rock, AR 72204 USA

来源：

2008 INTERNATIONAL WORKSHOP ON ROBOTIC AND SENSORS ENVIRONMENTS | 2008年

关键词：

biomechanics; 3D model; decoupled optimal control; sit-to-stand movement;

D O I：

10.1109/ROSE.2008.4669179

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We present the development of a 3D bipedal robotic model with thirteen generalized coordinates, and decoupled optimal controller design for the control of biomechanical sit-to-sland (STS) transfer. The non-linear model developed in Maple DynaFlexPro environment has three frontal and seven sagittal degrees of freedom (DOF). Three holonomic constraints ensure stationary foot placement during performance of the STS task. The controller design proceeds by decoupling the constrained and unconstrained DOF We propose H-2 and H-infinity optimal control designs for feedback control of joint torques in the constrained and unconstrained planes, respectively. We provide analytical and computer simulation results to show, the applicability and performance of the decoupling controller for the control of STS task.

引用

页码：46 / +

页数：2

共 50 条

[11] Synthesis of angular profiles for bipedal sit-to-stand movement
Mughal, Asif M.
Iqbal, Kamran
PROCEEDINGS OF THE 40TH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY, 2008, : 293 - +
[12] Use of Orthogonal Functions for Model Predictive Control of Biomechanical Sit-to-Stand
Iqbal, Kamran
2021 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2021, : 2283 - 2288
[13] A fuzzy biomechanical model for H∞ suboptimal control of sit-to-stand movement
Mughal, AM
Iqbal, K
Proceedings of the Eighth IASTED International Conference on Intelligent Systems and Control, 2005, : 374 - 379
[14] Modeling and simulation of sit-to-stand exercise
Rahim, M. A.
Tokhi, M. O.
Nasir, N. F. Mohd.
3RD KUALA LUMPUR INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING 2006, 2007, 15 : 204 - +
[15] BIOMECHANICAL ANALYSIS OF THE SIT-TO-STAND MOTION IN ELDERLY PERSONS
MILLINGTON, PJ
MYKLEBUST, BM
SHAMBES, GM
ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION, 1992, 73 (07): : 609 - 617
[16] 3D BIPEDAL MODEL FOR BIOMECHANICAL SIT-TO-STAND MOVEMENT WITH COUPLED TORQUE OPTIMIZATION AND EXPERIMENTAL ANALYSIS
Mughal, Asif Mahmood
Iqbal, Kamran
2010 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2010), 2010,
[17] Design and control of mechanical structures for sit-to-stand rehabilitation training
Liu, Kun
Ye, Ming
Yan, Pengfei
Li, Chao
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 931 - 936
[18] Optimal Design of a Physical Assistive Device to Support Sit-to-Stand Motions
Hoang, Khai-Long Ho
Mombaur, Katja D.
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 5891 - 5897
[19] Learning the Sit-to-Stand Human Behavior: An Inverse Optimal Control Approach
El-Hussieny, Haitham
Asker, Ahmed
Salah, Omar
2017 13TH INTERNATIONAL COMPUTER ENGINEERING CONFERENCE (ICENCO), 2017, : 112 - 117
[20] Measuring power during the sit-to-stand transfer
Ulrich Lindemann
Holger Claus
Michael Stuber
Peter Augat
Rainer Muche
Thorsten Nikolaus
Clemens Becker
European Journal of Applied Physiology, 2003, 89 : 466 - 470

← 1 2 3 4 5 →