Increased robustness of humanoid standing balance in the sagittal plane through adaptive joint torque reduction

@article{Giftthaler2013IncreasedRO,
  title={Increased robustness of humanoid standing balance in the sagittal plane through adaptive joint torque reduction},
  author={Markus Giftthaler and Katie Byl},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4130-4136}
}
This paper introduces and compares two control approaches that increase the robustness of humanoid standing balance in the sagittal plane with respect to impulsive perturbations by adapting joint torques. To address the question of how the range of admissible perturbations for an n-link inverted pendulum model can be enlarged, we propose two different strategies: adapting the ankle torque only and adapting all joint torques uniformly. For each, explicit-form solutions exist for nonlinear models… CONTINUE READING

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