Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane

Vittorio Lippi , Thomas Mergner , Maksymilian Szumowski , Magdalena Żurawska , Teresa Zielińska

Abstract

Human balancing can be modeled for the sagittal and frontal planes using double inverted pendulum (DIP) biomechanics representations. The DIP approach has also been used in the DEC (disturbances estimation and compensation) model for balance control of a humanoid robot in the sagittal plane. In this paper, it is implemented on a 14 degrees of freedom humanoid for the frontal plane. Positive results open the possibility to use the DEC concept for a bio-inspired modular control architecture for both the sagittal and the frontal planes.
Author Vittorio Lippi
Vittorio Lippi,,
-
, Thomas Mergner
Thomas Mergner,,
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, Maksymilian Szumowski WMEiL
Maksymilian Szumowski,,
- Faculty of Power and Aeronautical Engineering
, Magdalena Żurawska ITLMS
Magdalena Żurawska,,
- The Institute of Aeronautics and Applied Mechanics
, Teresa Zielińska ITLMS
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Pages285-292
Publication size in sheets0.5
Book Parenti-Castelli Vincenzo, Schliehen Werner (eds.): ROMANSY 21 - Robot Design, Dynamics and Control. Proceedings of the 21st CISM-IFToMM Symposium, CISM International Centre for Mechanical Sciences, vol. 569, 2016, Springer International Publishing, ISBN 978-3-319-33713-5, 448 p., DOI:10.1007/978-3-319-33714-2
Keywords in Englishhumanoid posture control, human-inspired, biped, neurorobotics
DOIDOI:10.1007/978-3-319-33714-2_32
URL http://dx.doi.org/10.1007/978-3-319-33714-2_32
Languageen angielski
Score (nominal)15
Citation count*2 (2018-06-13)
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