Vestibular humanoid postural control

Mergner, Thomas; Schweigart, G.; Fennell, Luminous

doi:10.1016/j.jphysparis.2009.08.002

Cited by 71 publications

(76 citation statements)

References 54 publications

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“…In Mergner et al (2009), a robot implements models of vestibular and proprioceptive signals. That research is primarily focused on understanding the role of the vestibular system, and therefore does not attempt to incorporate a detailed model of sensory reweighting.…”

Section: Discussionmentioning

confidence: 99%

“…So called "neurorobotic" models allow hypothesis to be tested under real-world conditions that reveal these issues. An example of a neurorobotic model includes recent study by Mergner et al (2009), in which a robot is used to explore the contribution of the vestibular system to stance control. These explorations can be of a benefit to both the robotics and neuroscience communities.…”

Section: Introductionmentioning

confidence: 99%

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Navigating sensory conflict in dynamic environments using adaptive state estimation

et al. 2011

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Most conventional robots rely on controlling the location of the center of pressure to maintain balance, relying mainly on foot pressure sensors for information. By contrast,humans rely on sensory data from multiple sources, including proprioceptive, visual, and vestibular sources. Several models have been developed to explain how humans reconcile information from disparate sources to form a stable sense of balance. These models may be useful for developing robots that are able to maintain dynamic balance more readily using multiple sensory sources. Since these information sources may conflict, reliance by the nervous system on any one channel can lead to ambiguity in the system state. In humans, experiments that create conflicts between different sensory channels by moving the visual field or the support surface indicate that sensory information is adaptively reweighted. Unreliable information is rapidly down-weighted,then gradually up-weighted when it becomes valid again.Human balance can also be studied by building robots that model features of human bodies and testing them under similar experimental conditions. We implement a sensory reweighting model based on an adaptive Kalman filter in abipedal robot, and subject it to sensory tests similar to those used on human subjects. Unlike other implementations of sensory reweighting in robots, our implementation includes vision, by using optic flow to calculate forward rotation using a camera (visual modality), as well as a three-axis gyro to represent the vestibular system (non-visual modality), and foot pressure sensors (proprioceptive modality). Our model estimates measurement noise in real time, which is then used to recompute the Kalman gain on each iteration, improving the ability of the robot to dynamically balance. We observe that we can duplicate many important features of postural sw ay in humans, including automatic sensory reweighting,effects, constant phase with respect to amplitude, and a temporal asymmetry in the reweighting gains.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Navigating sensory conflict in dynamic environments using adaptive state estimation

et al. 2011

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“…Recently, other techniques for global movement assessment have been introduced, such as the gait harmony [16]. In the specific case of posture, the human-like whole-body sway is commonly considered [17], [18]. Global motion can be also assessed by visual inspection from human observers [19].…”

Section: Benchmarks Of Human Likenessmentioning

confidence: 99%

Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans

Torricelli

González-Vargas

Veneman

et al. 2015

IEEE Robot. Automat. Mag.

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“…Humanoid robots can be used to explore the mechanisms behind human posture and movement control using experiments in real world set-up (Cheng et al 2007) and repeating human experiments with robots inspired by neurological theories (Mergner et al 2006(Mergner et al , 2009Hettich et al 2014). …”

Section: Introductionmentioning

confidence: 99%

“…For controlling biped stance without making assumptions about the support surface, the robot profits from the use an inertial measuring unit (IMU). In this work the bio-derived vestibular sensor presented in (Mergner et al 2009) is used (Fig. 1).…”

Section: Introductionmentioning

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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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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Vestibular humanoid postural control

Cited by 71 publications

References 54 publications

Navigating sensory conflict in dynamic environments using adaptive state estimation

Navigating sensory conflict in dynamic environments using adaptive state estimation

Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans

Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane

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