Understanding of the human motion as dynamics morphing system and laying of the base of next-generation humanoid robot control

提出了一个将人体运动控制的数学原理理解为一个由人体、环境和控制器组成的动力学变形系统的框架。它是基于一种控制技术，用于仿人机器人在复杂的约束下连接整个身体，保持稳定性，并实现各种运动。通过运动测量和控制参数的辨识，发现为仿人机器人开发的控制器能够很好地模拟人类的站立、行走和行走。

A framework to understand the mathematical principle of the human motor control as a dynamics-morphingsystem comprising the body, the environment and the controller was proposed. It is based on a control technique for humanoid robots to articulate the whole body under complex constraints, keep the stability and achieve a variety of motions. It was found that the controller which was developed for a humanoid robot in order to unify standing, stepping and walking nicely models that of a human through motion measurements and identifications of control parameters.