DocumentCode
3143283
Title
Multiple balance strategies from one optimization criterion
Author
Atkeson, Christopher G. ; Stephens, Benjamin
Author_Institution
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA
fYear
2007
fDate
Nov. 29 2007-Dec. 1 2007
Firstpage
57
Lastpage
64
Abstract
Multiple strategies for standing balance have been observed in humans, including using the ankles to apply torque to the ground, using the hips and/or arms to generate horizontal ground forces, and using the knees and hips to squat. This paper shows that multiple strategies can arise from the same optimization criterion. It is likely that humanoid robots will exhibit the same balance strategies as humans.
Keywords
humanoid robots; mobile robots; optimisation; ankle torque; horizontal ground force; humanoid robot; multiple standing balance strategy; optimization criterion; Design optimization; Foot; Hip; Humanoid robots; Humans; Joints; Knee; Process control; Process design; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2007 7th IEEE-RAS International Conference on
Conference_Location
Pittsburgh, PA
Print_ISBN
978-1-4244-1861-9
Electronic_ISBN
978-1-4244-1862-6
Type
conf
DOI
10.1109/ICHR.2007.4813849
Filename
4813849
Link To Document