Related papers: Providing a Periodic Control Solution for Balance …
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The normal and the inverted pendulum continue to be one of the main physical models and metaphors in science. The inverted pendulum is also a classic study case in control theory. In this paper we consider a special demonstration version of…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…
The present paper introduces an original biofeedback system for improving human balance control, whose underlying principle consists in providing additional sensory information related to foot sole pressure distribution to the user through…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
Maintaining an upright stance represents a complex task, which is achieved by integrating sensory information from the visual, vestibular and somatosensory systems. When one of these sensory inputs becomes unavailable and/or inaccurate…
The fractality of human gait, namely, the long-range correlation that characterizes scale-free fluctuations of gait descriptors, such as the stride intervals during steady-state walking, depends on the well-tuned organization of the…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
This work studies the stabilization for a periodic parabolic system under perturbations in the system conductivity. A perturbed system does not have any periodic solution in general. However, we will prove that the perturbed system can…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…