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This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the(More)
This paper describes on developing a dynamic humanoid model of sit-to-stand (STS) movement. Visual Nastran software is used to develop a humanoid model, while the humanoid movement is controlled by MATLAB/Simulink to perform sit-to-stand activity. Two control strategies are implemented in this study, which are PID controller and fuzzy logic control (FLC).(More)
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