Sciweavers

Share
ICRA
2005
IEEE

A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control

10 years 3 months ago
A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control
- Balance maintenance and upright posture recovery under unexpected environmental forces are key requirements for safe and successful co-existence of humanoid robots in normal human environments. In this paper we present a two-phase control strategy for robust balance maintenance under a force disturbance. The first phase, called the reflex phase, is designed to withstand the immediate effect of the force. The second phase is the recovery phase where the system is steered back to a statically stable “home” posture. The reflex control law employs angular momentum and is characterized by its counter-intuitive quality of “yielding” to the disturbance. The recovery control employs a general scheme of seeking to maximize the potential energy and is robust to local ground surface feature. Biomechanics literature indicates a similar strategy in play during human balance maintenance.
Muhammad Abdallah, Ambarish Goswami
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Muhammad Abdallah, Ambarish Goswami
Comments (0)
books