This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided.
Optimal Coordination and Control of Posture and Movements
2009-01-01
scopus:71149093918
Journal of Physiology - Paris; 103, pp 159-177 (2009) ; ISSN: 1769-7115
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Posture and motion prediction: perspectives for unconstrained head movements
Kraftfahrwesen | 2006
|Posture and Motion Prediction: Perspectives for Unconstrained Head Movements
SAE Technical Papers | 2006
|Upper Body Coordination in Reach Movements
SAE Technical Papers | 2008
|VEHICLE POSTURE CONTROL DEVICE AND POSTURE CONTROL METHOD
Europäisches Patentamt | 2023
|Posture control device, robot, and posture control method
Europäisches Patentamt | 2019
|