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Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability

An explicit mathematical form of a human’s step-and-brake controller is identified through motion measurement of the human subject. The controller was originally designed for biped robots based on the reduced-order dynamics and the model predictive control scheme with the terminal capturability cond...

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Detalles Bibliográficos
Autores principales: Kojima, Miharu, Sugihara, Tomomichi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9096700/
https://www.ncbi.nlm.nih.gov/pubmed/35572372
http://dx.doi.org/10.3389/frobt.2022.729593
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author Kojima, Miharu
Sugihara, Tomomichi
author_facet Kojima, Miharu
Sugihara, Tomomichi
author_sort Kojima, Miharu
collection PubMed
description An explicit mathematical form of a human’s step-and-brake controller is identified through motion measurement of the human subject. The controller was originally designed for biped robots based on the reduced-order dynamics and the model predictive control scheme with the terminal capturability condition, and is compatible with both stand-still and stepping motions. The minimal number of parameters facilitates the identification from measured trajectories of the center of mass and the zero-moment point of the human subject. In spite of the minimality, the result only suited the human’s behaviors well with slight modifications of the model by taking direction-dependency of the natural falling speed and the inertial torque about the center of mass into account. Furthermore, the parameters are successfully identified even from the first half of motion sequence, which means that the proposed method is available in designing on-the-fly systems to evaluate balancing abilities of humans and to assist balances of humans in walking.
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spelling pubmed-90967002022-05-13 Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability Kojima, Miharu Sugihara, Tomomichi Front Robot AI Robotics and AI An explicit mathematical form of a human’s step-and-brake controller is identified through motion measurement of the human subject. The controller was originally designed for biped robots based on the reduced-order dynamics and the model predictive control scheme with the terminal capturability condition, and is compatible with both stand-still and stepping motions. The minimal number of parameters facilitates the identification from measured trajectories of the center of mass and the zero-moment point of the human subject. In spite of the minimality, the result only suited the human’s behaviors well with slight modifications of the model by taking direction-dependency of the natural falling speed and the inertial torque about the center of mass into account. Furthermore, the parameters are successfully identified even from the first half of motion sequence, which means that the proposed method is available in designing on-the-fly systems to evaluate balancing abilities of humans and to assist balances of humans in walking. Frontiers Media S.A. 2022-04-28 /pmc/articles/PMC9096700/ /pubmed/35572372 http://dx.doi.org/10.3389/frobt.2022.729593 Text en Copyright © 2022 Kojima and Sugihara. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Kojima, Miharu
Sugihara, Tomomichi
Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title_full Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title_fullStr Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title_full_unstemmed Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title_short Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability
title_sort identification of a step-and-brake controller of a human based on prediction of capturability
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9096700/
https://www.ncbi.nlm.nih.gov/pubmed/35572372
http://dx.doi.org/10.3389/frobt.2022.729593
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