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2006
IEEE

Balance Control of a Humanoid Robot Based on the Reaction Null Space Method

9 years 5 months ago
Balance Control of a Humanoid Robot Based on the Reaction Null Space Method
— A humanoid robot should be able to keep its balance even in the presence of disturbing forces. Studies of human body reaction patterns to sudden external forces are useful to develop balance control strategies. In this paper we show that two such reaction patterns, called ”hip strategy” and “slipping” respectively, can be modeled by means of the Reaction NullSpace method developed earlier for space robots. We use a simple simulation model to confirm the validity. Also, experimental data from a small humanoid robot (HOAP-2) is presented.
Akinori Nishio, Kentaro Takahashi, Dragomir N. Nen
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Akinori Nishio, Kentaro Takahashi, Dragomir N. Nenchev
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