Constrained Inverted Pendulum Model For Evaluating Upright Postural Stability

DOI10.1115/1.3139720MaRDI QIDQ4745717zbMATH OpenOpenAlexFDO

Authors 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

feedbackholonomic torque constraintshuman torso motion about its upright positionLyapunov's second methodself rotation

Mathematics Subject Classification ID

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

Cited in

(8)

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

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