| Biologically inspired kinematic synergies enable linear balance control of a humanoid robot. | |
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MedLine Citation:
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PMID: 21523489 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoid robot, due to its large number of degrees of freedom (joints), and of non-linearities in its kinematic chains. Biped biological organisms face similar difficulties, but have nevertheless solved this problem. Experimental data reveal that many biological organisms reduce the high dimensionality of their action space by generating movements through linear superposition of a rather small number of stereotypical combinations of simultaneous movements of many joints, to which we refer as kinematic synergies in this paper. We show that by constructing two suitable non-linear kinematic synergies for the lower part of the body of a humanoid robot, balance control can in fact be reduced to a linear control problem, at least in the case of relatively slow movements. We demonstrate for a variety of tasks that the humanoid robot HOAP-2 acquires through this approach the capability to balance dynamically against unforeseen disturbances that may arise from external forces or from manipulating unknown loads. |
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Authors:
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Helmut Hauser; Gerhard Neumann; Auke J Ijspeert; Wolfgang Maass |
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Publication Detail:
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Type: JOURNAL ARTICLE Date: 2011-4-27 |
Journal Detail:
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Title: Biological cybernetics Volume: - ISSN: 1432-0770 ISO Abbreviation: - Publication Date: 2011 Apr |
Date Detail:
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Created Date: 2011-4-27 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 7502533 Medline TA: Biol Cybern Country: - |
Other Details:
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Languages: ENG Pagination: - Citation Subset: - |
Affiliation:
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Institute for Theoretical Computer Science, Graz University of Technology, 8010, Graz, Austria, helmut.hauser@igi.tugraz.at. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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