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
fDate :
12/1/1978 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1978.1101892
