Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8567
標題: 具有多自由度的擬人體姿態平衡控制
Control of Emulated MDOF Human Postural Balancing Systems
作者: 蕭勝隆
Hsiao, Sheng-Lung
關鍵字: human body
人體平衡
balance
robust control
illusiveness
modeling
強健控制
暈眩
模型
出版社: 電機工程學系所
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摘要: 本論文主要目的係探討如何穩定地控制一個多肢段的人體模型。首先,我們以一個9肢段24自由度的人體模型作為研究對象,建立人體模型的運動方程式,其次,假設一前庭數學模型,該數學模型係由半規管和主觀垂直方程式組成,藉此模型進一步得到暈眩狀態下的運動方程式。其次,引入一個控制律至9肢段人體模型閉迴路系統中,藉由調整控制律中的控制增益矩陣,確保閉迴路系統的穩定性,並使人體保持直立站姿。此外,控制律內包含一個第二控制律用來消除閉迴路系統不確定性的影響。本論文的研究成果希望能對仿生機器人的姿態控制研究有積極助益。
The analytical understanding and applications of human postural control could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, this research develops a two-stage feedback control law to remain the human body's upright posture under interference of the subjective verticals. First, the movement equations for a 24 DOFs body model is determined. There are two kinds of movement equations under consideration. One is a general movement equation and the other is the equation with uncertainties. The control law consists of two parts. The primary part is designed to track the desired reference trajectory and the secondary part is developed to compensate the effects of uncertainties and disturbances. It is hoped that the control theory could be used as a basis for posture control of intelligent humanoid robots in the future.
URI: http://hdl.handle.net/11455/8567
其他識別: U0005-1808200921041100
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-1808200921041100
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