Equilibrium study of "human" robot

In this paper we model, from a given attitude effect of intensional motion (arm perturbations), the equilibrium state of a human. For that, a multi-chain mechanical model of a human body is proposed with a general control architecture. The strategy is composed of two levels: the "coordinator" level and "legs and arms" level. The coordinator level is devoted to control leg movements and to ensure global stability of the robot. Actual perturbation effects threaten the equilibrium of the "human" and can be compensated using only a dynamic control strategy. This strategy is based on dynamic stability studies with a"centre of mass acceleration control" and a force distribution on each leg and each arm. We have emphasized both of these aspects and realized some simulations to demonstrate our approach.