Head movements: multidimensional modeling
The handbook of brain theory and neural networks
Envisioning human-robot coordination in future operations
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Forces acting on a biped robot. Center of pressure-zero moment point
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Fuzzy SVM learning control system considering time properties of biped walking samples
Engineering Applications of Artificial Intelligence
Hi-index | 0.00 |
In this paper, a model of a humanoid biped is developed. The dynamics are formulated to simulate responses to a sudden backwards translational disturbance of the support surface. The effect of joint stiffnesses, the role of vestibular and proprioceptive sensory apparatus in the maintenance of balance, and the involvement of the centers of mass and pressure are taken into consideration and shown in a number of simulations. Toward this end, a three-link sagittal biped with three muscle pairs at the ankle, knee, and hip, and two pairs of two-jointed muscles corresponding to quadriceps-hamstring and the gastrocnemius-antagonist group is subjected to computational experiments. Excursions of the center of gravity and the center of pressure are compared under different conditions. Comparisons to biological results are also discussed.