Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach
文献类型：期刊论文
| 作者 | Ma, Chao1; Fu, Hang1; Wu, Wei2
|
| 刊名 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
 |
| 出版日期 | 2023-10-01 |
| 卷号 | 21期号:10页码:3357-3367 |
| 关键词 | Asynchronous regulation convex optimization human postural regulation memory-based regulation semi-Markov jump system |
| ISSN号 | 1598-6446 |
| DOI | 10.1007/s12555-022-0661-z |
| 通讯作者 | Wu, Wei(wei.wu@ia.ac.cn) |
| 英文摘要 | This article investigates the human postural regulation problem from the dynamical system perspective, which is also applicable for human-like robotics. More precisely, since the dynamical human posture parameters may change caused by varying load or environment abrupt, the semi-Markov jump process is employed to model the human standing postural dynamics with multiple modes. Furthermore, a novel memorized regulation strategy is developed for guaranteeing the stable standing such that the past memory information can be well utilized. In particular, the asynchronous regulation procedure is considered for better describing the human postural model with mismatched jumping modes. By model transformation and stochastic analysis, mode-dependent regulation criteria with state feedback model are established by convex optimization approach, based on which the mode-dependent regulation gains are designed accordingly. Finally, the feasibility and effectiveness of our proposed regulation strategy is verified via an illustrative example of quiet upright standing posture. |
| WOS关键词 | HUMAN-LIKE WALKING ; MOTOR CONTROL ; STABILITY ; ROBOT ; SYSTEMS ; MOTION |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:001080432000019 |
| 出版者 | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53017]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wu, Wei |
| 作者单位 | 1.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ma, Chao,Fu, Hang,Wu, Wei. Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2023,21(10):3357-3367. |
| APA | Ma, Chao,Fu, Hang,&Wu, Wei.(2023).Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,21(10),3357-3367. |
| MLA | Ma, Chao,et al."Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 21.10(2023):3357-3367. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。