Identification of a Step-and-Brake Controller of a Human Based on COM-ZMP Model and Terminal Capturability Condition

Kojima, Masashi; Sugihara, Tomomichi

doi:10.1109/biorob49111.2020.9224372

Cited by 3 publications

(6 citation statements)

References 23 publications

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“…The subject's of gravity (COM) motion trajectory and zero moment point (ZMP) were measured, and control parameters were identified. In the previous research (Kojima, 2019), Kojima et al gave subjects an arbitrary perturbation at the end of the stepping and braking movement and verified changes in human behavior with phase plot. As a result, it has been confirmed that the phase space locus is an asymmetric locus group along the x-axis direction and has directivity in the front-back direction.…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 97%

“…A mathematical model of human stepping and braking control was identified through a joint project with Sugihara et al ( Kojima, 2019 ). The COM-ZMP model ( Kajita, 2009 ) is often used in the field of humanoid robot engineering.…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

“…The COM-ZMP model ( Kajita, 2009 ) is often used in the field of humanoid robot engineering. The equation of motion is derived from the constraint that humanoids are not mechanically connected to the ground ( Kojima, 2019 ), but humans are also constrained by similar conditions. The subject’s center of gravity (COM) motion trajectory and zero moment point (ZMP) were measured, and control parameters were identified.…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

“…The phase space locus has eigenvalues

and corresponding eigenvectors

for each of the unstable mode and stable mode. Considering asymmetrical motion and applying eigenvalues

in the phase space locus using the diagonal matrix D whose components are the eigenvalues of the system and the matrix T whose column vector is the eigenvector, the matrix representing the system is expressed as follows ( Kojima, 2019 ).

…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

“…The standing stability of A) is judged by Pratt et al using the capture point ( Pratt et al, 2006 ). The capture point is the point where he can finally stop the center of gravity by placing a ZMP at that point, which can be derived by the following procedure ( Kojima, 2019 ). The following homogeneous equation is obtained from Eq.…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

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Identification of Human Walking Balance Controller Based on COM-ZMP Model of Humanoid Robot

Yoshikawa

2022

Front. Robot. AI

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The purpose of this research is to build a technology that enables wearable robotic systems that support human movement to maintain stable balance. By expanding our knowledge of conventional human gait analysis technology and robotics technology, we will build a technology that can estimate the state of human balance. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions, and confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions to build a human balance control model. We confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to understand the state of human walking, the human walking motion was measured by motion capture and analyzed in detail. Following the norms of gait analysis techniques, we extended the balance control model of human foot-stepping and braking motions to a gait model that includes continuous straight-line walking and change of direction during walking. The effectiveness of the constructed balance control model was confirmed using a motion capture system and a floor reaction force sensor system.

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Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 97%

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

“…The phase space locus has eigenvalues

and corresponding eigenvectors

for each of the unstable mode and stable mode. Considering asymmetrical motion and applying eigenvalues

…”

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

Section: Previous Research On Identification Of Standing Stability Co...mentioning

confidence: 99%

See 3 more Smart Citations

Identification of Human Walking Balance Controller Based on COM-ZMP Model of Humanoid Robot

Yoshikawa

2022

Front. Robot. AI

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Toward Understanding of Human Motion from Motor Control of Humanoid Robots

Sugihara

2020

Spinal Surgery

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Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability

Kojima

Sugihara

2022

Front. Robot. AI

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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 condition, and is compatible with both stand-still and stepping motions. The minimal number of parameters facilitates the identification from measured trajectories of the center of mass and the zero-moment point of the human subject. In spite of the minimality, the result only suited the human’s behaviors well with slight modifications of the model by taking direction-dependency of the natural falling speed and the inertial torque about the center of mass into account. Furthermore, the parameters are successfully identified even from the first half of motion sequence, which means that the proposed method is available in designing on-the-fly systems to evaluate balancing abilities of humans and to assist balances of humans in walking.

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Identification of a Step-and-Brake Controller of a Human Based on COM-ZMP Model and Terminal Capturability Condition

Cited by 3 publications

References 23 publications

Identification of Human Walking Balance Controller Based on COM-ZMP Model of Humanoid Robot

Identification of Human Walking Balance Controller Based on COM-ZMP Model of Humanoid Robot

Toward Understanding of Human Motion from Motor Control of Humanoid Robots

Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability

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