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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Bibliographic Details
Published in:	Frontiers in Robotics and AI Vol. 9; p. 729593
Main Authors:	Kojima, Miharu, Sugihara, Tomomichi
Format:	Journal Article
Language:	English
Published:	Switzerland Frontiers Media SA 28.04.2022 Frontiers Media S.A
Subjects:	biped locomotion capturability COM-ZMP model Electronic computers. Computer science human motor control Mechanical engineering and machinery QA75.5-76.95 Robotics and AI step-and-brake motion system identification TJ1-1570 COM-ZMP model step-and-brake motion biped locomotion human motor control capturability system identification
ISSN:	2296-9144, 2296-9144
Online Access:	Get full text
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