Vestibular humanoid postural control.

@article{Mergner2009VestibularHP,
  title={Vestibular humanoid postural control.},
  author={Thomas Mergner and Georg Schweigart and Luminous Fennell},
  journal={Journal of physiology, Paris},
  year={2009},
  volume={103 3-5},
  pages={178-94}
}
Many of our motor activities require stabilization against external disturbances. This especially applies to biped stance since it is inherently unstable. Disturbance compensation is mainly reactive, depending on sensory inputs and real-time sensor fusion. In humans, the vestibular system plays a major role. When there is no visual space reference, vestibular-loss clearly impairs stance stability. Most humanoid robots do not use a vestibular system, but stabilize upright body posture by means… CONTINUE READING

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