NDLI: Ankle and hip balance control strategies with transitions

Content Provider	IEEE Xplore Digital Library
Author	Kanamiya, Y. Ota, S. Sato, D.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Systems Engineering, Tokyo City University, Tamazutsumi 1-28-1, Setagaya-ku, 158-8557, Japan (Kanamiya, Y.; Ota, S.; Sato, D.)
Abstract	A method for implementing the ankle and hip balance control strategies, well known from studies on human balance control, is suggested. The moment of the acting disturbance force is evaluated continuously in real time via the difference between the ZMP and the ground projection of the center of mass. Compliant response to the continuous disturbance is ensured by attaching a virtual spring-damper in an appropriate way for each strategy. Further on, whenever the limit of the ankle strategy is reached, a smooth transition toward the hip strategy is initialized and compliance is ensured in a continuous way and in agreement with the disturbance. After the disturbance is removed, the humanoid switches first back to the ankle strategy, and then returns to the initial equilibrium (erect) posture. Experimental data taken with a small humanoid robot (HOAP-2) are presented to validate the method. See also the accompanying video clip.
Starting Page	3446
Ending Page	3451
File Size	499414
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509785
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hip Humans Motion control Humanoid robots Automatic control Knee Torque Centralized control Legged locomotion Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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