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.


    Access

    Download


    Export, share and cite



    Title :

    Optimal Coordination and Control of Posture and Movements


    Contributors:

    Publication date :

    2009-01-01


    Remarks:

    scopus:71149093918
    Journal of Physiology - Paris; 103, pp 159-177 (2009) ; ISSN: 1769-7115



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Posture and motion prediction: perspectives for unconstrained head movements

    Kim,K.H. / Martin,B.J. / Gillespie,R.B. et al. | Automotive engineering | 2006


    Posture and Motion Prediction: Perspectives for Unconstrained Head Movements

    Martin, Bernard J. / Kim, K. Han / Gillespie, R. Brent | SAE Technical Papers | 2006


    Upper Body Coordination in Reach Movements

    Martin, Bernard J. / Yu, Shin-Yuan | SAE Technical Papers | 2008


    VEHICLE POSTURE CONTROL DEVICE AND POSTURE CONTROL METHOD

    TOYODA SHIN / KATO AKIRA | European Patent Office | 2023

    Free access

    Posture control device, robot, and posture control method

    INOUE TAKAHIRO / MOTOMURA AKIRA | European Patent Office | 2019

    Free access