Physiological Cost Optimization for Bipedal Modeling with Optimal Controller Design

Human voluntary movements are complex physical phenomenon and there are several physiological factors that control the movement and transient response, steady state position, speed of motion and other characteristics. Many experimentalists described variety of variables important for human balance and movement such as center of mass, center of pressure, ground reaction forces etc. In this study, we discuss a bipedal model for biomechanical sit to stand movement with optimal controller design. The cost optimization for gain scheduling is based upon physiological variables of center of mass, head position, and ground reaction forces. Our simulation results shows that movement profiles improve with this techniques and it provides better gain scheduling for different joint angles.