Ankle and hip strategies for balance recovery of a biped subjected to an impact

A humanoid robot should be able to keep balance even in the presence of disturbing forces. Studies of human body reaction patterns to sudden external forces (impacts) are useful for developing balance control strategies. In this paper, we show how to implement two such reaction patterns, called ankl...

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Bibliographic Details
Published in:Robotica 2008-09, Vol.26 (5), p.643-653
Main Authors: Nenchev, Dragomir N., Nishio, Akinori
Format: Article
Language:English
Subjects:
balance recovery
biped robot
external disturbance
reaction null-space method
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Summary:A humanoid robot should be able to keep balance even in the presence of disturbing forces. Studies of human body reaction patterns to sudden external forces (impacts) are useful for developing balance control strategies. In this paper, we show how to implement two such reaction patterns, called ankle and hip strategy, using a small humanoid robot. Simple dynamical models in the sagittal plane are employed. The decision for invoking one of the reaction patterns is based on acceleration data measured during the impact. The experiments confirm that the robot is able to react swiftly, similar to a human.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574708004268