WSEAS Transactions on Biology and Biomedicine
Print ISSN: 1109-9518, E-ISSN: 2224-2902
Volume 16, 2019
A Human-inspired Simulator for the Study of Orientation and Balance Control
Authors: , , , ,
Abstract: Biologically, the vestibular feedback is indispensable to the ability of balancing for both humans and humanoid robots in different conditions. This paper presents a human-inspired orientation and balance control of a three degree-of-freedom (DOF) simulator that emulates a person sitting in a platform. In accordance with the role in humans, the control is essentially based on the vestibular system (VS), which regulates and stabilizes gaze during head motion, through modeling the behavior of the semicircular canals and otoliths in the presence of stimuli, i.e., linear and angular accelerations/velocities derived by the turns experienced by the robot head on the three Cartesian axes. The semicircular canal is used as the angular velocity sensor to perform the postural control of the robot. Simulation results in the MATLAB/Simulink environment are given to show that the orientation of the head in space (roll, pitch and yaw) can be successfully controlled by a proportional-integral-derivative (PID) with noise filter for each DOF.
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Pages: 10-20
WSEAS Transactions on Biology and Biomedicine, ISSN / E-ISSN: 1109-9518 / 2224-2902, Volume 16, 2019, Art. #2