Human balancing can be modeled for the sagittal and frontal planes using double inverted pendulum (DIP) biomechanics representations. The DIP approach has also been used in the DEC (disturbances estimation and compensation) model for balance control of a humanoid robot in the sagittal plane. In this paper, it is implemented on a 14 degrees of freedom humanoid for the frontal plane. Positive results open the possibility to use the DEC concept for a bio-inspired modular control architecture for both the sagittal and the frontal planes.

Abstract:A simplified model of a human body is proposed. Model is built according to anthropomorphic data. Basic movements (gait and run)

Abstract

No abstract

No abstract