NDLI: Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots

Content Provider	IEEE Xplore Digital Library
Author	Hauser, H. Neumann, G. Ijspeert, A.J. Maass, W.
Copyright Year	2007
Description	Author affiliation: Inst. for Theor. Comput. Sci., Graz Univ. of Technol., Graz (Hauser, H.; Neumann, G.; Maass, W.) \|\| Sch. of Comput. & Commun. Sci., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne (Ijspeert, A.J.)
Abstract	Nature has developed methods for controlling the movements of organisms with many degrees of freedom which differ strongly from existing approaches for balance control in humanoid robots: Biological organisms employ kinematic synergies that simultaneously engage many joints, and which are apparently designed in such a way that their superposition is approximately linear. We show in this article that this control strategy can in principle also be applied to balance control of humanoid robots. In contrast to existing approaches, this control strategy reduces the need to carry out complex computations in real time (replacing the iterated solution of quadratic optimization problems by a simple linear controller), and it does not require knowledge of a dynamic model of the robot. Therefore it can handle unforeseen changes in the dynamics of the robot that may arise for example from wind or other external forces. We demonstrate the feasibility of this novel approach to humanoid balance control through simulations of the humanoid robot HOAP-2 for tasks that require balance control under disturbances by unknown external forces.
Starting Page	73
Ending Page	80
File Size	612727
Page Count	8
File Format	PDF
ISBN	9781424418619
DOI	10.1109/ICHR.2007.4813851
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biological system modeling Robot control Humanoid robots Humans Communication system control Linear approximation Kinematics Biological systems Organisms Biological control systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots (2007)

Biologically Inspired Kinematic Synergies Provide a New Paradigm for Balance Control of Humanoid Robots

Biologically inspired kinematic synergies enable linear balance control of a humanoid robot

Biologically-inspired control architecture for a humanoid robot

A biologically-inspired controller for reaching movements

Biologically inspired joint control for a humanoid robot

Biologically motivated servomechanism kinematic models

Design and development of a biologically-inspired artificial vestibular system for robot heads

Biologically inspired optimal robot arm control with signal-dependent noise

Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots

Similar Documents

Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots (2007)

Biologically Inspired Kinematic Synergies Provide a New Paradigm for Balance Control of Humanoid Robots

Biologically inspired kinematic synergies enable linear balance control of a humanoid robot

Biologically-inspired control architecture for a humanoid robot

A biologically-inspired controller for reaching movements

Biologically inspired joint control for a humanoid robot

Biologically motivated servomechanism kinematic models

Design and development of a biologically-inspired artificial vestibular system for robot heads

Biologically inspired optimal robot arm control with signal-dependent noise

Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots