区分サンプル値制御から見たヒトの棒逆さ立て運動の理解

抄録

Although human dynamics is piecewise feedforward control with neural delay, previous studies treat it as continuous control. In this study, we modeled human dynamics, especially human stick balancing, as piecewise sampled-data control with operational period as a reaction time. Stable control of the stick balancing is successful by using vibration manipulation function, in case the operational period is smaller than one tenth of the natural period of the pendulum of the stick. The limit of the length of the stick for balancing is around 0.4m, whose natural period is almost 1s. Since reaction time of a human is more than 0.1s and it works as an operational period of the sampled-data control, limiting length of the stick balancing becomes 0.4m for human.