Cart (Loading....) | Create Account
Close category search window
 

Dynamic postural control method for biped in unknown environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Gorce, P. ; LGMPB, Univ. de Paris-Sud, Orsay, France

We propose a new way to solve the dynamic equilibrium problem of a biped robot under unknown external perturbations. For that, a multichain mechanical model of a human body (called BIPMAN) is proposed with a general architecture. The principle of the dynamic postural control is based on the correction of the trunk center of mass acceleration and on the force distribution exerted by the limbs on the trunk. To ensure a real time dynamic compensation faced to an unknown external perturbation, we have introduced a new approach called real time criteria and constraints adaptation. This is based on a linear programming technique with a general criterion which optimizes the force distribution. The ponderation coefficients and the task constraints notions are introduced in order to specify criteria and constraints adapted to specific task classes in presence of an unknown external perturbation. Many results are presented to demonstrate criteria and constraints influences on the dynamic equilibrium

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:29 ,  Issue: 6 )

Date of Publication:

Nov 1999

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.