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Conference Paper: The dynamic postural adjustment with the quadratic programming method

TitleThe dynamic postural adjustment with the quadratic programming method
Authors
Kudoh, ShunsukeKomura, TakuIkeuchi, Katsushi
Issue Date2002
Citation
IEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2563-2568 How to Cite?
DOI: http://dx.doi.org/10.1109/IRDS.2002.1041656
AbstractThe postural balance system is one of the most fundamental functions for humanoid robot control. In this paper, we propose a new feedback balance control system for the human body. This system can manipulate large pertubations. It finds the optimal motion for maintaining balance in the 3D space without receiving any feed-forward input beforehand. Two different strategies are adopted for the optimization: the quadratic programming method and the PD control. Simulation results are compared with real human motion; many common features such as rotating arms are observed.
Persistent Identifierhttp://hdl.handle.net/10722/288599

 

DC FieldValueLanguage
dc.contributor.authorKudoh, Shunsuke-
dc.contributor.authorKomura, Taku-
dc.contributor.authorIkeuchi, Katsushi-
dc.date.accessioned2020-10-12T08:05:23Z-
dc.date.available2020-10-12T08:05:23Z-
dc.date.issued2002-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2563-2568-
dc.identifier.urihttp://hdl.handle.net/10722/288599-
dc.description.abstractThe postural balance system is one of the most fundamental functions for humanoid robot control. In this paper, we propose a new feedback balance control system for the human body. This system can manipulate large pertubations. It finds the optimal motion for maintaining balance in the 3D space without receiving any feed-forward input beforehand. Two different strategies are adopted for the optimization: the quadratic programming method and the PD control. Simulation results are compared with real human motion; many common features such as rotating arms are observed.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleThe dynamic postural adjustment with the quadratic programming method-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IRDS.2002.1041656-
dc.identifier.scopuseid_2-s2.0-0036453795-
dc.identifier.volume3-
dc.identifier.spage2563-
dc.identifier.epage2568-

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