Translated Titles

Analysis and Control Design for Emulated Human Postural Balancing Systems





Key Words

姿態控制 ; 強健控制 ; 平衡 ; 穩定性 ; 暈眩 ; postural control ; subjective vertical ; robust control ; balance ; vestibular ; canal-otolith ; interaction ; vertigo



Volume or Term/Year and Month of Publication


Academic Degree Category




Content Language


Chinese Abstract

本論文主要是建構一個包含前庭器交互作用的數學模型以描述人類筆直站立的姿態和生醫特性上的交互作用。此數學模型解釋並描述主觀垂直 (subjective vertical; SV)定向和角速度引起的靜態傾斜針對人類筆直站立的姿態影響。該影響於人體中會產生一個類似摩天輪的錯覺而致使人體姿態不平衡。本文提出一個以狀態回授控制律為基礎的模型來控制人體受到主觀垂直錯覺干擾的站立姿態平衡,其中主觀垂直受角速度所引起的靜態傾斜暈眩當作系統數學模式中的不確定性,因此本論文中額外加入一個強健控制的法則來保證受暈眩擾動系統的穩定性。此研究發展的理論期望對未來發展完全擬人化之機器人有正面的助益。

English Abstract

The aim of this thesis is to characterize a mathematical model, including canal-otolith interaction, to describe biological interaction of the human upright standing posture and biological characteristics. The model explains and describes the subjective vertical orientation, angular velocity induced static tilt, and how does this phenomenon to affect the human upright standing postural balance. On the basis of the model, a state feedback control law is presented to assist the balance of the human’s standing posture that is interfered by the subjective verticals with the phenomenon of subjective vertical orientation illusion treated as an external disturbance. A robust control law is developed to guarantee the posture stability while there is plant uncertainties caused by the effect of vertigo. It is expected that this research could be served as a preliminary for designing postural control law for the future humanoid robots.

Topic Category 電機資訊學院 > 電機工程學系所
工程學 > 電機工程
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