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Multiple balance strategies from one optimization criterion

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2 Author(s)
Atkeson, C.G. ; Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA ; Stephens, B.

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.

Published in:

Humanoid Robots, 2007 7th IEEE-RAS International Conference on

Date of Conference:

Nov. 29 2007-Dec. 1 2007