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Coordinating Feet in Bipedal Balance S.O. Anderson, C.G. Atkeson, J.K. Hodgins
 

Summary: Coordinating Feet in Bipedal Balance
S.O. Anderson, C.G. Atkeson, J.K. Hodgins
Robotics Institute
Carnegie Mellon University
soa,cga,jkh@ri.cmu.edu
Abstract-- Biomechanical models of human standing balance
in the sagittal plane typically treat the two ankle joints as a
single degree of freedom. They describe the sum of the torques
produced by the ankles, but do not predict what the contribution
of each ankle will be. Similarly, balance algorithms for bipedal
robots control the location of the overall center of pressure, but
do not consider the individual centers of pressure under each
foot. We present theoretical and experimental results showing an
optimal solution to the problem of producing a single desired
torque with redundant actuators, resulting in alignment of the
individual centers of pressure under each foot. This produces
a feedback gain structure not addressed in the biomechanics
literature and a balance controller that is potentially more robust
to unexpected changes in the region of support. We show that
the feedback gain matrix of this controller has an unexpected

  

Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University

 

Collections: Computer Technologies and Information Sciences; Engineering