Balance and Posture Control for Biped Robots

2012 ◽  
pp. 129-143 ◽  
Author(s):  
Maximo A. Roa ◽  
Christian Ott
Keyword(s):  
Posture Control ◽  
Biped Robots

Posture Control in Mild Mental Retardation

2003 ◽  
Author(s):  
Huh Jin-Young ◽  
Lee Jae-Won ◽  
Lee Chai-Hang
Keyword(s):  
Mental Retardation ◽  
Posture Control ◽  
Mild Mental Retardation

Posture Control for Personal Mobility Robot using Feedback Compensation with Unstable Pole

2013 ◽  
Vol 133 (3) ◽  
pp. 282-289
Author(s):  
Noriaki Hirose ◽  
Ryosuke Tajima ◽  
Kazutoshi Sukigara ◽  
Yuji Tsusaka
Keyword(s):  
Posture Control ◽  
Personal Mobility ◽  
Feedback Compensation

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

scholarly journals A modular framework to generate robust biped locomotion: from planning to control

2021 ◽  
Vol 3 (9) ◽  
Author(s):  
Mohammadreza Kasaei ◽  
Ali Ahmadi ◽  
Nuno Lau ◽  
Artur Pereira
Keyword(s):  
Numerical Simulations ◽  
Predictive Control ◽  
Biped Locomotion ◽  
Input Output ◽  
Dynamics Model ◽  
Biped Robots ◽  
The Core ◽  
Simulation Results ◽  
Reference Trajectories ◽  
Modular Framework

AbstractBiped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.

scholarly journals The Effects of Abdominal Hypopressive Training on Postural Control and Deep Trunk Muscle Activation: A Randomized Controlled Trial

2021 ◽  
Vol 18 (5) ◽  
pp. 2741
Author(s):  
María del Mar Moreno-Muñoz ◽  
Fidel Hita-Contreras ◽  
María Dolores Estudillo-Martínez ◽  
Agustín Aibar-Almazán ◽  
Yolanda Castellote-Caballero ◽  
...  
Keyword(s):  
Postural Control ◽  
Muscle Activation ◽  
Center Of Pressure ◽  
Controlled Trial ◽  
Trunk Muscle ◽  
Posture Control ◽  
Trunk Muscles ◽  
Control Group ◽  
Female Population ◽  
Imaging Results

Background: Abdominal Hypopressive Training (AHT) provides postural improvement, and enhances deep trunk muscle activation. However, until recently, there was a lack of scientific literature supporting these statements. The major purpose of this study was to investigate the effect of AHT on posture control and deep trunk muscle function. Methods: 125 female participants aged 18–60 were randomly allocated to the Experimental Group (EG), consisting of two sessions of 30 min per week for 8 weeks of AHT, or the Control Group (CG), who did not receive any treatment. Postural control was measured with a stabilometric platform to assess the static balance and the activation of deep trunk muscles (specifically the Transverse Abdominal muscle (TrA)), which was measured by real-time ultrasound imaging. Results: The groups were homogeneous at baseline. Statistical differences were identified between both groups after intervention in the Surface of the Center of Pressure (CoP) Open-Eyes (S-OE) (p = 0.001, Cohen’s d = 0.60) and the Velocity of CoP under both conditions; Open-Eyes (V-OE) (p = 0.001, Cohen´s d = 0.63) and Close-Eyes (V-CE) (p = 0.016, Cohen´s d = 0.016), with the EG achieving substantial improvements. Likewise, there were statistically significant differences between measurements over time for the EG on S-OE (p < 0.001, Cohen´s d = 0.99); V-OE (p = 0.038, Cohen´s d = 0.27); V-CE (p = 0.006, Cohen´s d = 0.39), anteroposterior movements of CoP with Open-Eyes (RMSY-OE) (p = 0.038, Cohen´s d = 0.60) and activity of TrA under contraction conditions (p < 0.001, Cohen´s d = 0.53). Conclusions: The application of eight weeks of AHT leads to positive outcomes in posture control, as well as an improvement in the deep trunk muscle contraction in the female population.

Posture control using electrical stimulation biofeedback: a pilot study

1996 ◽  
Vol 20 (2) ◽  
pp. 53-59 ◽  
Author(s):  
P. Metherall ◽  
E. A. Dymond ◽  
N. Gravill
Keyword(s):  
Electrical Stimulation ◽  
Pilot Study ◽  
Posture Control

174 AGE-RELATED CHANGES IN POSTURE CONTROL DURING DUAL-TASKING

2010 ◽  
Vol 16 ◽  
pp. S50
Author(s):  
M. Lacour ◽  
L. Bernard-Demanze ◽  
L. Borel ◽  
M. Dumitrescu ◽  
P. Jimeno
Keyword(s):  
Posture Control ◽  
Dual Tasking ◽  
Age Related ◽  
Age Related Changes
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