{"title":"Model predictive impedance control: application to human walking model","authors":"Farzad Towhidkhah, R. Gander, H. C. Wood","doi":"10.1109/IEMBS.1995.579672","DOIUrl":null,"url":null,"abstract":"Biological motor control systems employ a general control strategy to perform different tasks, unlike robotic systems in which a task-oriented control strategy is usually wanted. Recently, the authors proposed a general-purpose model for control of a joint movement (F. Towhidkhah et al., 7th Conf. on Biomed. Eng., Tehran, Iran, p. 134-43, Dec. 1994). The generality of this model is based on the combination of three key factors: joint impedance control, model predictive controller, and external disturbance input. These bases lend the model to be applied to different types of movements. In the present paper, the application of this model to a biped model is reported. The computer simulation results show an acceptable performance of the model in dealing with this unstable system.","PeriodicalId":20509,"journal":{"name":"Proceedings of 17th International Conference of the Engineering in Medicine and Biology Society","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1995-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 17th International Conference of the Engineering in Medicine and Biology Society","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IEMBS.1995.579672","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
Biological motor control systems employ a general control strategy to perform different tasks, unlike robotic systems in which a task-oriented control strategy is usually wanted. Recently, the authors proposed a general-purpose model for control of a joint movement (F. Towhidkhah et al., 7th Conf. on Biomed. Eng., Tehran, Iran, p. 134-43, Dec. 1994). The generality of this model is based on the combination of three key factors: joint impedance control, model predictive controller, and external disturbance input. These bases lend the model to be applied to different types of movements. In the present paper, the application of this model to a biped model is reported. The computer simulation results show an acceptable performance of the model in dealing with this unstable system.
生物运动控制系统采用一般的控制策略来执行不同的任务，不像机器人系统通常需要任务导向的控制策略。最近，作者提出了一个控制关节运动的通用模型(F. Towhidkhah et al.， 7th Conf. on Biomed)。Eng。，伊朗德黑兰，第134-43页，1994年12月)。该模型的通用性是基于三个关键因素的结合:联合阻抗控制、模型预测控制器和外部干扰输入。这些基础使模型适用于不同类型的运动。本文报道了该模型在两足动物模型中的应用。计算机仿真结果表明，该模型在处理该不稳定系统时具有良好的性能。
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