人の歩行における安定制御の研究

Abstract

After the discussion of the model of human locomotion, we laid emphasis on the study of the stability of human locomotion in this paper. On the basis of the essential model a strategy to improve the stability was proposed. A stability controller using a time-varying ankle torque to prevent body from falling down was newly incorporated in the model and a prediction control algorithm was applied to the controller. Taking a free walking on flat ground and a stair climbing movement for examples, the effectiveness of the stability controller was proved by the computer simulation.