Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance

DOI10.5220/0009970307260733MaRDI QIDQ6092007zbMATH OpenOpenAlexFDO

Authors

Publication date 22 November 2023

Published in Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://arxiv.org/abs/2005.12559

zbMATH Keywords

stabilityposture controlhumanoid

Mathematics Subject Classification ID

Biomechanics (92C10) Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Abstract: Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.

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Cited in

(1)

• Stabilizing postural control for emulated human balancing systems

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