Paper Info
Title
Biological Principles Of Control Selection For A Humanoid Robot'S Dynamic Balance Preservation
Abstract
This paper presents a contribution to the study of control law structures and to the selection of relevant sensory information for humanoid robots in situations where dynamic balance is jeopardized. In the example considered, the system first experiences a large disturbance, and then by an appropriate control action resumes a "normal" posture of standing on one leg. In order to examine the control laws used by humans, an experiment was performed in which a human subject was subjected to perturbations and the ensuing reactions were recorded to obtain complete information about the subject's motion and ground reaction force. Then, a humanoid model was advanced with characteristics matching those of the experimental human subject. The whole experiment was simulated so as to achieve a simulated motion that was similar to that of the human test subject. The analysis of the control laws applied, and the behavior of selected ground reference points (ZMP, CMP and CM projection on the ground surface), provided valuable insight into balance strategies that humanoid robots might employ to better mimic the kinetics and kinematics of humans compensating for balance disturbances.
Year
DOI
Venue
2008
10.1142/S0219843608001601
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Keywords
Field
DocType
Humanoid robot, dynamic balance, posture, large and small disturbances, balance control
Kinematics,Simulation,Computer science,Dynamic balance,Ground reaction force,Balance disturbances,Complete information,Humanoid robot
Journal
Volume
Issue
ISSN
5
4
0219-8436
Citations 
PageRank 
References 
6
0.52
9
Authors
8
Name
Order
Citations
PageRank
M. K. Vukobratovic188679.12
Hugh M. Herr257570.59
Branislav Borovac369749.86
Mirko Rakovic44010.84
Marko B. Popovic51259.90
Andreas Hofmann6477.06
Miloš Jovanović77211.15
Veljko Potkonjak818526.25