The dynamic postural adjustment with the quadratic programming method

S. Kudoh, T. Komura, K. Ikeuchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The 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 perturbations. 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.
Original languageEnglish
Title of host publicationIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)0-7803-7398-7
Publication statusPublished - Oct 2002

Keywords / Materials (for Non-textual outputs)

  • feedback
  • mobile robots
  • motion control
  • quadratic programming
  • PD control
  • feedback balance control system
  • human body
  • humanoid robot control
  • optimal motion
  • postural balance system
  • Control systems
  • Dynamic programming
  • Feedback
  • Feedforward systems
  • Humanoid robots
  • Humans
  • Optimization methods
  • Quadratic programming
  • Robot control


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