Title :
A recursive workspace balancing controller for a 3D multibody model of a biped
Author :
Wendlandt, Jeffrey M.
Author_Institution :
Intelligent Machines & Robotics Lab., California Univ., Berkeley, CA, USA
Abstract :
Describes a balancing controller for a 3D multibody model of human walking. The objective is to develop predictive models of human motion. The models are to include reaction to disturbances. This model-based controller forms a model using a recursive formulation of workspace control. The recursive techniques free the control designer from generating the complicated equations of motion. The paper describes first the biped model and then the recursive workspace controller. Simulation results of the human model reacting to a disturbance are presented
Keywords :
biocontrol; biomechanics; legged locomotion; physiological models; 3D multibody model; balancing controller; biped; disturbance reaction; human walking; model-based controller; recursive formulation; recursive workspace balancing controller; recursive workspace controller; Control systems; Equations; Force control; Humans; Intelligent robots; Leg; Motion control; Predictive models; Robot kinematics; Velocity control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.649790
