Modeling human postural coordination to improve the control of balance in humanoids

This paper models recent data in the field of postural coordination showing the existence of self-organized postural states, and transition between them, underlying supra-postural tracking movements. The proposed biomechanical model, capitalizing on stability and optimization criteria, captures the complex postural behaviors observed in humans and can be used to implement efficient balance control principles in humanoids. Experimental results on humanoids show the relevance of this work.