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Modeling Human Postural Coordination to Improve the Control of Balance in Humanoids

Vincent Bonnet 1 Julien Lagarde 2 Philippe Fraisse 3 Nacim Ramdani 1 Sofiane Ramdani 2 Philippe Poignet 3 Benoit Bardy 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper models recent data in the field of postural coordination showing the existence of self-organized postural states, and transition between them, underlying supra-postural tracking movements. The proposed biomechanical model, capitalizing on stability and optimization criteria, captures the complex postural behaviors observed in humans and can be used to implement efficient balance control principles in humanoids. Experimental results on humanoids show the relevance of this work.
Keywords : Humanoid robots
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00202778
Contributor : Martine Peridier <>
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Last modification on : Monday, June 7, 2021 - 10:34:36 AM
Long-term archiving on: : Sunday, September 5, 2021 - 6:25:37 PM

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Vincent Bonnet, Julien Lagarde, Philippe Fraisse, Nacim Ramdani, Sofiane Ramdani, et al.. Modeling Human Postural Coordination to Improve the Control of Balance in Humanoids. 7th IEEE-RAS International Conference on Humanoid Robots, Nov 2007, Pittsburgh, PA, United States. pp.324-329, ⟨10.1109/ICHR.2007.4813888⟩. ⟨lirmm-00202778⟩

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