Sensory adaptation in human balance control: Lessons for biomimetic robotic bipeds

- This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of a moving support platform on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We present results exploring sensory re-weighting in humans, simulation, and in a robot implementation.

• Type: Journal
• Year: 2008
• Where: NN
• Authors: Arash Mahboobin, Patrick J. Loughlin, Mark S. Redfern, Stuart O. Anderson, Christopher G. Atkeson, Jessica K. Hodgins
• Keywords: Body Orientation, Neural Networks, NN 2008, Robust Balance Behavior, Sensory Re-weighting