Constrained Inverted Pendulum Model For Evaluating Upright Postural Stability

DOI10.1115/1.3139720zbMath0507.93053OpenAlexW2039026174MaRDI QIDQ4745717

Hooshang Hemami, A. Katbab

Publication date: 1982

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3139720

zbMATH Keywords

feedbackLyapunov's second methodholonomic torque constraintshuman torso motion about its upright positionself rotation

Mathematics Subject Classification ID

Probabilistic models, generic numerical methods in probability and statistics (65C20) Stabilization of systems by feedback (93D15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Free motion of a rigid body (70E15) Stability of solutions to ordinary differential equations (34D20) Biomechanical solid mechanics (74L15) Control/observation systems governed by ordinary differential equations (93C15) Perturbation methods for rigid body dynamics (70E20)

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Control of a base-excited inverted pendulum with two degrees of rotational freedom ⋮ Evolutionary trends in rigid body dynamics. ⋮ A simple strategy for jumping straight up ⋮ Modeling, stability and control of biped robots --- a general framework ⋮ On control of a base-excited inverted pendulum using neural networks ⋮ Modelling and monitoring of passive control structures in human movement ⋮ On design of continuous Lyapunov's feedback control ⋮ On the dynamics and Lyapunov stability of constrained and embedded rigid bodies

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