• DocumentCode
    827850
  • Title

    Biped stability considerations with vestibular models

  • Author

    Hemami, H. ; Weimer, F.C. ; Robinson, C.S. ; Stockwell, C.W. ; Cvetkovic, V.S.

  • Author_Institution
    Ohio State University, Columbus, OH, USA
  • Volume
    23
  • Issue
    6
  • fYear
    1978
  • fDate
    12/1/1978 12:00:00 AM
  • Firstpage
    1074
  • Lastpage
    1079
  • Abstract
    Recent experimental work has resulted in certain models for the semicircular canals and otoliths. The accuracy and adequacy of these models are analyzed here by incorporating them in stability studies of biped robots-one-degree and two-degree-of-freedom inverted pendulums. It is shown that a variety of feedback signals can stabilize biped models of these types. Additional information could limit the choice of such signals.
  • Keywords
    Legged locomotion; Output feedback; Robots; Stability; Angular velocity; Central nervous system; Equations; Feedback; Humans; Irrigation; Robots; Stability analysis; Stability criteria; Testing;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1978.1101892
  • Filename
    1101892
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=827850