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Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots

Ott, Christian and Henze, Bernd and Hettich, Georg and Seyde, Tim Niklas and Roa, Maximo A. and Lippi, Vittorio and 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), pp. 22-33. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/MRA.2015.2507098 ISSN 1070-9932

Full text not available from this repository.

Abstract

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.

Item URL in elib:https://elib.dlr.de/103562/
Document Type:Article
Title:Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Hettich, GeorgUniversity Hospital FreiburgUNSPECIFIED
Seyde, Tim Niklastim_seyde (at) yahoo.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Lippi, VittorioUniversity Hospital FreiburgUNSPECIFIED
Mergner, ThomasUniversity Hospital FreiburgUNSPECIFIED
Date:8 March 2016
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:23
DOI :10.1109/MRA.2015.2507098
Page Range:pp. 22-33
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1070-9932
Status:Published
Keywords:Humanoid robot, balancing, control, bio-inspired control, passivity based control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Ott, Dr. Christian
Deposited On:23 Mar 2016 09:51
Last Modified:06 Sep 2019 15:26

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