A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control
作者： M. Abdallah , A. Goswami
DOI: 10.1109/ROBOT.2005.1570406
关键词:
摘要: Balance maintenance and upright posture recovery under unexpected environmental forces are key requirements for safe successful co-existence of humanoid robots in normal human environments. In this paper we present a two-phase control strategy robust balance force disturbance. The first phase, called the reflex is designed to withstand immediate effect force. second phase where system steered back statically stable “home” posture. law employs angular momentum characterized by its counter-intuitive quality “yielding” general scheme seeking maximize potential energy local ground surface feature. Biomechanics literature indicates similar play during maintenance.
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