Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach

doi:10.1007/s12555-022-0661-z

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	Memory-based Human Postural Regulation Control: An Asynchronous Semi-Markov Model Approach
	Ma, Chao 1; Fu, Hang 1; Wu, Wei 2
刊名	INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
	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
出版者	INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
WOS记录号	WOS:001080432000019
内容类型	期刊论文
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.