Distributed Bio-inspired Humanoid Posture Control
Lippi V, Molinari F, Seel T (2019)
Publication Type: Conference contribution
Publication year: 2019
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 5360-5365
Conference Proceedings Title: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Event location: Berlin
ISBN: 9781538613115
DOI: 10.1109/EMBC.2019.8856667
Abstract
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.
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APA:
Lippi, V., Molinari, F., & Seel, T. (2019). Distributed Bio-inspired Humanoid Posture Control. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 5360-5365). Berlin, DE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Lippi, Vittorio, Fabio Molinari, and Thomas Seel. "Distributed Bio-inspired Humanoid Posture Control." Proceedings of the 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019, Berlin Institute of Electrical and Electronics Engineers Inc., 2019. 5360-5365.
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