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| Presentation | 2010-11-19 13:30 A double inverted pendulum model controlled by the intermittent control during quiet standing Yasuyuki Suzuki (Osaka Univ.), Pietro Morasso (Univ. of Genova), Taishin Nomura (Osaka Univ.)  MBE2010-48 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Human can keep quiet upright standing even though the posture is mechanically unstable. The neural control mechanism for quiet standing has not been fully understood. There have been reports suggesting that the central nerve system plays an important role for keeping upright posture. If a simple PD control is assumed as the neural control mechanism, large gains of P and D are required to avoid the instability induced by the neural feedback delay. We have proposed an intermittent control mechanism which can avoid the instability. In this study, we construct a double inverted pendulum model during quiet standing. First, we assume the conventional PD control as the control mechanism, and analyze stability and dynamics. Then, we assume PD control-based intermittent control as the control mechanism. We show that the intermittent control model with small gain parameters can keep upright position. This result implies that intermittent control is more suitable than the conventional PD control for human upright posture control. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Posture Control / Neuro-Musculo-Skeletal System / Intermittent Control / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 110, no. 294, MBE2010-48, pp. 69-74, Nov. 2010. | |
| Paper # | MBE2010-48 | |
| Date of Issue | 2010-11-11 (MBE) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | MBE2010-48 |
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| Conference Information | |
| Committee | MBE NC |
| Conference Date | 2010-11-18 - 2010-11-19 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tohoku University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | BCI/BMI, NC and MBE |
| Paper Information | |
| Registration To | MBE |
| Conference Code | 2010-11-MBE-NC |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A double inverted pendulum model controlled by the intermittent control during quiet standing |
| Sub Title (in English) | |
| Keyword(1) | Posture Control |
| Keyword(2) | Neuro-Musculo-Skeletal System |
| Keyword(3) | Intermittent Control |
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| 1st Author's Name | Yasuyuki Suzuki |
| 1st Author's Affiliation | Osaka University (Osaka Univ.) |
| 2nd Author's Name | Pietro Morasso |
| 2nd Author's Affiliation | University of Genova (Univ. of Genova) |
| 3rd Author's Name | Taishin Nomura |
| 3rd Author's Affiliation | Osaka University (Osaka Univ.) |
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| Speaker | Author-1 |
| Date Time | 2010-11-19 13:30:00 |
| Presentation Time | 25 minutes |
| Registration for | MBE |
| Paper # | MBE2010-48 |
| Volume (vol) | vol.110 |
| Number (no) | no.294 |
| Page | pp.69-74 |
| #Pages | 6 |
| Date of Issue | 2010-11-11 (MBE) |
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