1,354 research outputs found
Distributed Bio-inspired Humanoid Posture Control
This paper presents an innovative distributed bio-inspired posture control
strategy for a humanoid, employing a balance control system DEC (Disturbance
Estimation and Compensation). Its inherently modular structure could
potentially lead to conflicts among modules, as already shown in literature. A
distributed control strategy is presented here, whose underlying idea is to let
only one module at a time perform balancing, whilst the other joints are
controlled to be at a fixed position. Modules agree, in a distributed fashion,
on which module to enable, by iterating a max-consensus protocol. Simulations
performed with a triple inverted pendulum model show that this approach limits
the conflicts among modules while achieving the desired posture and allows for
saving energy while performing the task. This comes at the cost of a higher
rise time.Comment: 2019 41st Annual International Conference of the IEEE Engineering in
Medicine & Biology Society (EMBC
Review of Quadruped Robots for Dynamic Locomotion
This review introduces quadruped robots: MITCheetah, HyQ, ANYmal, BigDog, and
their mechanical structure, actuation, and control
Human-Likeness Indicator for Robot Posture Control and Balance
Similarly to humans, humanoid robots require posture control and balance to
walk and interact with the environment. In this work posture control in
perturbed conditions is evaluated as a performance test for humanoid control. A
specific performance indicator is proposed: the score is based on the
comparison between the body sway of the tested humanoid standing on a moving
surface and the sway produced by healthy subjects performing the same
experiment. This approach is here oriented to the evaluation of a
human-likeness. The measure is tested using a humanoid robot in order to
demonstrate a typical usage of the proposed evaluation scheme and an example of
how to improve robot control on the basis of such a performance indicator scoreComment: 16 pages, 5 Figures. arXiv admin note: substantial text overlap with
arXiv:2110.1439
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