Details
| Original language | English |
|---|---|
| Title of host publication | 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 5360-5365 |
| Number of pages | 6 |
| ISBN (electronic) | 9781538613115 |
| Publication status | Published - Jul 2019 |
| Externally published | Yes |
| Event | 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 - Berlin, Germany Duration: 23 Jul 2019 → 27 Jul 2019 |
Publication series
| Name | Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS |
|---|---|
| ISSN (Print) | 1557-170X |
Abstract
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.
ASJC Scopus subject areas
- Computer Science(all)
- Signal Processing
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
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2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5360-5365 8856667 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Distributed Bio-inspired Humanoid Posture Control
AU - Lippi, Vittorio
AU - Molinari, Fabio
AU - Seel, Thomas
N1 - Publisher Copyright: © 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.
AB - This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.
UR - http://www.scopus.com/inward/record.url?scp=85077871350&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2019.8856667
DO - 10.1109/EMBC.2019.8856667
M3 - Conference contribution
C2 - 31947067
AN - SCOPUS:85077871350
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5360
EP - 5365
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -