'Institute of Electrical and Electronics Engineers (IEEE)'
Abstract
Postural stability is a requirement for autonomous
adaptive legged locomotion. Neurobiological research lead to the
idea that there are independent central systems for posture and
locomotion, which interact when required.
In this work we propose a posture control system focused
in the standing posture context. We integrate the proposed
posture system with a CPG design based on coupled nonlinear
oscillators.
The proposed system generates movements for posture correction
which are modulated according to sensory information.
We integrate several different responses that individually contribute
to the posture equilibrium. This coordination, competition
and redundancy among the responses is a key element for
adaptive, flexible and fault tolerant motor system.
The control system is validated through a few experiments,
where the robot is subjected to different posture situations
ranging from roll and pitch variations to loss of feet support
