Authors:
M. Zebenay
;
V. Lippi
and
T. Mergener
Affiliation:
University Freiburg, Germany
Keyword(s):
Disturbance Estimation Control, Human-like, Double Inverted Pendulum.
Related
Ontology
Subjects/Areas/Topics:
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
Abstract:
This paper validates experimentally a humanoid posture control concept from neuroscience, called disturbance
estimation and compensation, DEC concept. The DEC control system, different from typical state estimation
systems, is not including a dynamic model of the body. Also, among human posture control models it is
particular in that it uses feedback of multisensory disturbance estimates for compensation, rather than ’raw’
sensory signals. To this end, the system performs fusions of sensory inputs such as vestibular inputs (IMU)
and proprioceptive inputs (joint position and speed). The compensation of external disturbances allows the
control to use low loop gain, with human-like tolerance of time delays and mechanical compliance. This
paper validates the control concept experimentally, measuring the balancing of biped stance of a humanoid 2
DOF robot, Posturob II, while superimposing on support surface tilt either voluntary trunk bending or push
stimuli. The results show that the con
trol concept is robust and able to stabilize the robot’s balance in complex
disturbance conditions. Furthermore, several human-like features such as hip-ankle coordination emerged
from the control concept.
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