DERIVATION AND VALIDATION OF A SPATIAL MULTI-LINK HUMAN POSTURAL STABILITY MODEL

2016 ◽  
Vol 40 (2) ◽  
pp. 155-167
Author(s):  
Nicholas R. Bourgeois ◽  
Robert G. Langlois
Keyword(s):  
Postural Stability ◽  
Inverted Pendulum ◽  
Dynamic Models ◽  
Alternative Methods ◽  
Ship Motions ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Stability Model ◽  
Human Balance ◽  
Naval Engineering

In naval engineering and related disciplines, it is common for dynamic models of the human body to be used in conjunction with quantitative records of body and ship motions, in order to study human balance behaviour while performing various shipboard activities. Research in this area can lead to improvements in ship operations and designs that improve crew safety and efficiency. This paper presents the development of a new spatial 18 degree-of-freedom (DOF)1 ship-inverted pendulum model that incorporates 6 DOF ship motion and 3 DOF joints representing ankle, knee, hip, and neck motions. The derived model is then validated by comparing it to similar models derived using alternative methods but simulated under equivalent input conditions.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error

2018 ◽  
Vol 232 (22) ◽  
pp. 4152-4166 ◽  
Author(s):  
Haoyu Ren ◽  
Qimin Li ◽  
Bing Liu ◽  
Zhenhuan Dou
Keyword(s):  
Inverted Pendulum ◽  
Tracking Error ◽  
Design Procedure ◽  
Design Parameters ◽  
Linkage Mechanism ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Extreme Load ◽  
Cable Drive ◽  
Spring Loaded Inverted Pendulum

High acceleration and extreme load are frequently appeared on high-speed locomotion of legged robot’s legs, imposing a challenging trade-off between weight and torque in leg design. This paper proposes a new design paradigm based on cable-drive and elastic linkage to solve the problem. The details of the design procedure are given, including the construction of the single leg. With the optimum design of the linkage mechanism, a combined index of the workspace and tracking error are used as object function, and taking geometrical design parameters of the linkage as optimization parameters. Based on the target workspace and the spring-loaded inverted pendulum model, the best foot trajectory in obstacle climbing and trotting gait are analyzed and illustrated. This paper built linkage cable-drive spring robot based on the legged module integration. Simulations and experiments indicate that linkage cable-drive spring robot performs stable trotting with control of the spring-loaded inverted pendulum model. Linkage cable-drive spring robot prototype experiments results are provided to verify the validity of the new method.

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