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A robotic closed-loop scheme to model human postural coordination

Vincent Bonnet 1 Philippe Fraisse 2 Nacim Ramdani 1, 2 Julien Lagarde 3 Sofiane Ramdani 3 Benoit G. Bardy 4
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EDM - Efficience Déficience Motrice [Montpellier]
4 IUF - Institut Universitaire de France
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 suprapostural tracking movements. The proposed closed-loop controller captures the complex postural behaviors observed in humans and can be used to implement efficient and simple balance control principles in humanoids.
Keywords : closed loop systems humanoid robots self-adjusting systems tracking
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798604
Contributor : François Keith <>
Submitted on : Saturday, March 9, 2013 - 12:00:54 AM
Last modification on : Monday, March 30, 2020 - 4:30:07 PM

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CNRS | INRIA | IDH | DEMAR | LIRMM | MIPS | UNIV-MONTPELLIER

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Vincent Bonnet, Philippe Fraisse, Nacim Ramdani, Julien Lagarde, Sofiane Ramdani, et al.. A robotic closed-loop scheme to model human postural coordination. IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2525-2530, ⟨10.1109/IROS.2009.5354529⟩. ⟨lirmm-00798604⟩

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