Paper Info
Title
Lyapunov Stability Of A Nonlinear Bio-Inspired System For The Control Of Humanoid Balance
Abstract
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.
Year
DOI
Venue
2020
10.5220/0009970307260733
ICINCO: PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS
Keywords
DocType
Citations 
Posture Control, Humanoid, Stability
Conference
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Lippi Vittorio100.34
Molinari Fabio200.34