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
Type de document :
Communication dans un congrès
IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2525-2530, 2009, 〈www.iros2009.org/〉. 〈10.1109/IROS.2009.5354529〉
Liste complète des métadonnées
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798604
Contributeur : François Keith <>
Soumis le : samedi 9 mars 2013 - 00:00:54
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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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, 2009, 〈www.iros2009.org/〉. 〈10.1109/IROS.2009.5354529〉. 〈lirmm-00798604〉

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