By Topic

Identification of a piecewise controller of lateral human standing based on returning recursive-least-square method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Nobuyuki Murai ; Dept. of Adaptive Machine Syst., Osaka Univ., Osaka, Japan ; Daishi Kaneta ; Tomomichi Sugihara

This paper proposes an identification technique of a human standing controller. The dynamics of a human is approximated by the macroscopic relationship between the center of mass and the zero-moment point. The standing controller is modelled by a piecewise-linear feedback, which was originally developed for humanoid robots. In the previous work, the authors found a qualitative similarity of the model to an actual human behavior observed in a phase space, and the next challenge was to identify the controller from those data. A difficulty is that the observed dynamics is a piecewise system due to the unilaterality of reaction forces, so that the identification is not straightforward. It is not trivial how to detect the switching point in each motion locus and how to find the trust region of the supposed model. The recursive-least-square (RLS) method, which can present the deviation of identified parameters and that of the reliability of the results, helps to estimate the trust region with a returning computation process. Through the identification, the validity of the proposed method was verified. More study about the availability of the COM-ZMP model and the piecewise-linear controller for the analyses of the human standing control is also reported.

Published in:

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

3-7 Nov. 2013