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


This text provides a theoretical and thorough experimental comparison of two distinct posture control approaches: (one) a totally model-based management approach and (2) a biologically inspired approach derived from human observations. Whereas the robotic approach will simply be applied to balancing in three-dimensional (three-D) and multicontact (MC) things, the biologically inspired balancer currently only works in two-dimensional situations however shows attention-grabbing robustness properties below time delays within the feedback loop. This can be an important feature when considering the signal transmission and processing properties within the human sensorimotor system. Each controllers were evaluated in an exceedingly series of experiments with a torque-controlled humanoid robot (TORO). This text concludes with some suggestions for the advance of model-based balancing approaches in robotics.

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