Human Balancing on a Log: A Switched Multi-Layer Controller

• Published in: arXiv.org
• Main Authors: Zhao, Jiayi, Yang, Mo, Li, Jing Shuang
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 03.10.2024
• Subjects: Actuation; Balancing; Central nervous system; Controllers; Dynamical systems; Flat surfaces; Initial conditions; Multilayers; Nonlinear control; Nonlinear dynamics; Surface stability

We study the task of balancing a human on a log that is fixed in place. Balancing on a log is substantially more challenging than balancing on a flat surface -- to achieve stability, we use a switched multi-layer controller. The controller consists of an upper-layer LQR planner (akin to the central...