Abstract
The aim of this research is to model the function of the Central Nervous System (CNS) when controlling human standing posture which paves the way for designing external skeletal structures for rehabilitation or in an industrial direction, for building human-like biped robots. We used a simple inverted pendulum with one degree of freedom to model body skeletal dynamics. Three different feedback control policies were used to describe the function of the CNS, and the stability of the whole closed-loop model under each policy was studied. The policies we considered for the CNS as a controller are: 1) intermittent control, 2) impulsive control, and 3) hybrid control, which is a combination of intermittent and impulsive. The stability of the closed-loop model under each policy was evaluated numerically using Lyapunov stability criteria. Our simulation results indicate that while the intermittent policy results in a stable system, impulsive control is more efficient in terms of energy consumption. Consequently, a hybrid control strategy will result in a system that compromises between stability and energy efficiency.
Published Version
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