The Experts below are selected from a list of 30363 Experts worldwide ranked by ideXlab platform
Zhijun Li - One of the best experts on this subject based on the ideXlab platform.
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adaptive fuzzy logic control of Dynamic Balance and motion for wheeled inverted pendulums
Fuzzy Sets and Systems, 2009Co-Authors: Zhijun Li, Chunquan XuAbstract:In this paper, adaptive fuzzy logic control of Dynamic Balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown Dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.
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Adaptive Robust Dynamic Balance and Motion Controls of Mobile Wheeled Inverted Pendulums
IEEE Transactions on Control Systems Technology, 2009Co-Authors: Zhijun LiAbstract:Adaptive robust Dynamic Balance and motion control are considered for mobile wheeled inverted pendulums, in the presence of parametric and functional uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms using physical properties of wheeled inverted pendulums ensure that the outputs of the system track the given bounded reference signals within a small neighborhood of zero and guarantees semi-global uniform boundedness of all of the closed-loop signals. Simulation results are presented to verify the effectiveness of the proposed adaptive robust control.
Ashril Yusof - One of the best experts on this subject based on the ideXlab platform.
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the effects of comprehensive warm up programs on proprioception static and Dynamic Balance on male soccer players
PLOS ONE, 2012Co-Authors: Abdolhamid Daneshjoo, Abdul Halim Mokhtar, Nader Rahnama, Ashril YusofAbstract:Purpose The study investigated the effects of FIFA 11+ and HarmoKnee, both being popular warm-up programs, on proprioception, and on the static and Dynamic Balance of professional male soccer players.
Mantian Li - One of the best experts on this subject based on the ideXlab platform.
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A three decomposition control algorithm for controlling biped walking with Dynamic Balance
2014 IEEE International Conference on Mechatronics and Automation, 2014Co-Authors: Pengfei Wang, Mantian LiAbstract:One of the challenging research issues in controlling 3D biped walking is how to control it keep Balance when suffering an unexpected disturbed. This paper describes a three decomposition control algorithm for controlling 3D biped walking with Dynamic Balance. In our algorithm, the swing leg angle is associated with walking velocity. when the biped suffering an unexpected disturb, the walking velocity will change, and the swing leg will change corresponding by control which makes the biped is supported again when the swing leg touchdown. Our control algorithm is test by simulation, the biped can be pushed out of place but doesn't fall down by a big thrust. Simulation results show that the simple decomposition control algorithm is effective.
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Control of a humanoid robot walking with Dynamic Balance
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013Co-Authors: Mantian Li, Pengfei WangAbstract:In this paper, we proposed a simple algorithm for controlling humanoid walking. We take the body as control target and the legs as control tool. The passive Dynamic of robot is used as much as possible, and the legs will execute necessary actions for adjusting body states through sensors' feedback. The hip actuators are used to avoid body from falling down including position and orientation which is the key for Dynamic Balance; the knee actuators are used to generate necessary spacing from ground when leg swinging; the ankle actuators are used to control walking velocity. Our control algorithm is test by simulation, the test shown that the robot can follow a given velocity and its maximum walking velocity is near to human, the robot won't fall down or deviate its destination when suffering a relative large disturbance. So our control algorithm is efficient and can be used to control humanoid robot walking.
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Control of a biped walking with Dynamic Balance
2012 IEEE International Conference on Mechatronics and Automation, 2012Co-Authors: Mantian LiAbstract:Human can walk agilely because of their Dynamic Balance. In this article, we develop a simple algorithm to control bipedal walking with active Balance. The robot can reach its expected velocity by controlling stance leg length and can maintain Dynamic Balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. The tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. This control algorithm can be used to develop bipedal robot or humanoid robot.
Jose A Parraca - One of the best experts on this subject based on the ideXlab platform.
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Balance training reduces fear of falling and improves Dynamic Balance and isometric strength in institutionalised older people a randomised trial
Journal of Physiotherapy, 2012Co-Authors: Narcis Gusi, Jose C Adsuar, Hector Corzo, Borja Del Pozocruz, Pedro R Olivares, Jose A ParracaAbstract:Question What is the effect of a Balance training protocol with the Biodex Balance System in institutionalised older people with fear of falling? Design Randomised controlled trial with concealed allocation and assessor blinding. Participants Forty older people who lived in a nursing home and had fear of falling. Intervention The experimental group completed a 12-week Balance training protocol based on balancing/rebalancing training with the Biodex Balance System, with two sessions per week. During the training period, participants in both groups received the same multidisciplinary care (such as physiotherapy, occupational therapy and nursing) that they usually received in the nursing home. Outcome measures The primary outcome was fear of falling (Falls Efficacy Scale International questionnaire). Secondary outcomes were Dynamic Balance (Fall Risk Test) and isometric strength (torque of knee flexor and extensor isometric strength measured with an isokinetic dynamometer). Outcome measures were taken before and after the training program protocol. Results Compared to the control group, the exercise group had significantly greater improvements at 12 weeks in fear of falling (by 8 points, 95% CI 4 to 12), in Dynamic Balance (by 2 degrees, 95% CI 1 to 3), and in isometric strength of the knee flexors (by 7Nm, 95% CI 3 to 11) and knee extensors (by 7Nm, 95% CI 1 to 13). Conclusion The training program was feasible and effective in reducing fear of falling and improving Dynamic Balance and isometric strength in institutionalised older people with fear of falling. Trial registration ISRCTN21695765.
Chunquan Xu - One of the best experts on this subject based on the ideXlab platform.
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adaptive fuzzy logic control of Dynamic Balance and motion for wheeled inverted pendulums
Fuzzy Sets and Systems, 2009Co-Authors: Zhijun Li, Chunquan XuAbstract:In this paper, adaptive fuzzy logic control of Dynamic Balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown Dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.
