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Summary: Multiple Balance Strategies
From One Optimization Criterion
Christopher G. Atkeson and Benjamin Stephens
Robotics Institute, Carnegie Mellon University
www.cs.cmu.edu/~cga, cga@cmu.edu, bstephens@cmu.edu
Abstract-- Multiple strategies for standing balance have been
observed in humans, including using the ankles to apply torque
to the ground, using the hips and/or arms to generate horizontal
ground forces, and using the knees and hips to squat. This
paper shows that multiple strategies can arise from the same
optimization criterion. It is likely that humanoid robots will
exhibit the same balance strategies as humans.
I. INTRODUCTION
This paper addresses two questions: 1) Will humanoid
robots show the same multiple strategies for standing balance
as seen in humans? and 2) If so, do these multiple strategies
arise from independent design and control processes, or a
single design and control process? This paper demonstrates
that it is likely that humanoid robots with backdrivable joints
will exhibit the same behavioral strategies seen in humans.
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