A gain-scheduling approach to model human simultaneous visual tracking and balancing

Adina Panchea 1 Nacim Ramdani 2 Philippe Fraisse 3, 2 Park Sukyung 4
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this study, we endeavor to better understand the human motor control system in order to help transposing some of its features onto humanoid robots. The postural coordination task investigated is related to an experimental paradigm that consists in visual target tracking task while balancing. We want to test whether the human biomechanical responses, namely phase / antiphase coordination mode transition, as exhibited during the actual experiments can be modeled by a linearized double inverted pendulum and parallel independent PD feedback control loops. Remarkably, these loops implement joint space control using cartesian task space variables. Furthermore, we want to see how the feedback control gains given by an optimization procedure scale w.r.t frequency or target motion magnitude. A closed-loop synthesis is developed that consists in minimizing a minimum torque criterion under both balance and task constraints. We show that the optimal feedback control gains obtained yield model responses consistent with the literature. In a second part, we implement a gain-scheduling approach where control gains values are predicted via interpolation. Finally, our approach implements a controller capable of achieving the task even when the frequency of the target motion varies over time.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.1695-1700, 2013
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https://hal.archives-ouvertes.fr/hal-00881234
Contributeur : Nacim Ramdani <>
Soumis le : jeudi 7 novembre 2013 - 18:27:04
Dernière modification le : mardi 13 novembre 2018 - 10:49:00

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  • HAL Id : hal-00881234, version 1

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Adina Panchea, Nacim Ramdani, Philippe Fraisse, Park Sukyung. A gain-scheduling approach to model human simultaneous visual tracking and balancing. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.1695-1700, 2013. 〈hal-00881234〉

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