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We examine postural reaction and balance recovery patterns occurring when a standing upright human is subjected to a sudden disturbance within the frontal plane, with the aim of developing balance control strategies for humanoid robots. Five patterns are identified and related to the magnitude of the disturbance. Three of the patterns are modeled and implemented with a small humanoid robot HOAP-2...
In this paper, a new control algorithm is presented for implementing hopping and balancing motions on a planar hopping machine with a single actuated revolute joint. Starting with a simple control algorithm for balancing, it is extended to perform trajectory-tracking maneuvers, which enables it to perform the crouching, lift-off and flight phases of a single hop, as well as re-balancing after landing...
The authors have studied the roles and effects of double-limb support (DLS) motion whose the time interval is measurable in limit cycle walking. It was clarified that DLS motion emerges in passive dynamic walking of a viscoelastic-legged rimless wheel through numerical simulations and experiments. This paper then investigates the potentiality of the emergence of DLS in a kneed limit cycle walking...
A method for implementing the ankle and hip balance control strategies, well known from studies on human balance control, is suggested. The moment of the acting disturbance force is evaluated continuously in real time via the difference between the ZMP and the ground projection of the center of mass. Compliant response to the continuous disturbance is ensured by attaching a virtual spring-damper in...
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