KP351 Lecture Notes - Lecture 16: Inverted Pendulum
20 Mar 2020
School
Department
Course
Professor
Document Summary
The upright human is a multi-link inverted pendulum. However, his linkage is inherently unstable because of the force of gravity. However, the reality is that coordinated muscle activations are requires to keep the body upright in the activities of daily life. Balance control can be de ned as the process by which the cns generates the patterns of muscle activity required to regulate. Active resistance to external forces acting on the body. Maintenance of balance occurs by controlling com position and motion. Com: average position of our bodies total mass. Net e ect of gravity acts through centre of mass. Gravity acting on a system is counteracted by ground reaction forces. Ground reaction forced and centre of mass oppose each other. When you standing your centre of mass will be in continuous movement within the base of support. Imaginary point on ground referred to as cop.
