Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots

Ott, Christian; Henze, Bernd; Hettich, Georg; Seyde, Tim; Roa, Máximo A.; Lippi, Vittorio; Mergner, Thomas

doi:10.1109/mra.2015.2507098

Cited by 53 publications

(47 citation statements)

References 24 publications

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“…The reference signal is a raised-cosine velocity function of 4 • amplitude. The response shows the typical coordination behavior emerging from the interaction of the two control modules, as shown in previous experiments for the sagittal plane (Zebenay et al 2015;Lippi et al 2013;Hettich et al 2014;Ott et al 2016). …”

Section: Resultssupporting

confidence: 74%

“…Leg rotation in the hips in the horizontal plane was controlled with a proportional derivative feedback on joint position. The control in the sagittal plane was implemented having a module controlling the pelvis joint and one for each of the following pairs of joints: hips, knees and ankles as presented in (Ott et al 2016). The voluntary movement consisted in a lateral trunk bending, that evoked adjustments in the lower body.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane

Lippi

Mergner

Szumowski

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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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.

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Section: Resultssupporting

confidence: 74%

Section: Methodsmentioning

confidence: 99%

Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane

Lippi

Mergner

Szumowski

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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“…This model uses sensor fusion-derived internal reconstructions of the external disturbances affecting body posture. Issues of a modular control system are conflicts among joints, as extensively shown in [6]. In this work, we show how distributed control theory can be applied to such a framework.…”

Section: A Overviewmentioning

confidence: 89%

“…In [6], it is shown how the modular structure of the DEC can lead to conflicts between modules: an example is the circular overshoot exhibited in body posture's transient behavior, as shown in Fig. 2.…”

Section: B Modularity Coupling Forces and Delaysmentioning

confidence: 99%

Distributed Bio-inspired Humanoid Posture Control

Lippi

Molinari

Seel

2019

2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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This paper presents an innovative distributed bioinspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.

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“…The estimators in the controls had time delays of 60 ms. The control in the sagittal plane was implemented having a module controlling the pelvis joint and one for each of the following pairs of joints: hips, knees and ankles as presented in (Ott et al 2016). 3).…”

Section: Methodsmentioning

confidence: 99%