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Control of Emulated MDOF Human Postural Balancing Systems
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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.
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