Ott, Christian und Henze, Bernd und Hettich, Georg und Seyde, Tim Niklas und Roa, Maximo A. und Lippi, Vittorio und Mergner, Thomas (2016) Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots. IEEE Robotics & Automation Magazine, 23 (1), Seiten 22-33. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2015.2507098. ISSN 1070-9932.
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Kurzfassung
This article provides a theoretical and thorough experimental comparison of two distinct posture control approaches: 1) a fully model-based control approach and 2) a biologically inspired Approach derived from human observations. While the robotic approach can easily be applied to balancing in three-dimensional (3-D) and multicontact (MC) situations, the biologically inspired balancer currently only works in two-dimensional situations but shows interesting robustness properties under time delays in the feedback loop. This is an important feature when considering the signal transmission and processing properties in the human sensorimotor system. Both controllers were evaluated in a series of experiments with a torque-controlled humanoid robot (TORO). This article concludes with some suggestions for the improvement of model-based balancing approaches in robotics.
elib-URL des Eintrags: | https://elib.dlr.de/103562/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Titel: | Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 8 März 2016 | ||||||||||||||||||||||||||||||||
Erschienen in: | IEEE Robotics & Automation Magazine | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
Band: | 23 | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/MRA.2015.2507098 | ||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 22-33 | ||||||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||||||
ISSN: | 1070-9932 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Humanoid robot, balancing, control, bio-inspired control, passivity based control | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Ott, Dr. Christian | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 23 Mär 2016 09:51 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 28 Nov 2023 08:45 |
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