Balanced and falling states for biped systems: Applications to robotic versus human walking stability

Carlotta Mummolo, Francesco Cursi, Joo H. Kim

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

Abstract

Designing a balance controller that allows a robot to perform human-like dynamic and stable walking is still a challenge. In this work, a recent theoretical framework for the balance stability analysis of bipeds is extended to two real multibody biped systems: A robot and a human subject. For each system in single support (SS) contact configuration, the threshold between balanced and falling state is calculated, resulting in the biped-specific balance stability boundary. This boundary identifies, in the state space of the center of mass (COM), all possible states that are balanced with respect to SS. A COM state outside of the boundary represents the sufficient condition for a falling state, from which a change in the current SS contact configuration is inevitable. The walking trajectories of both systems are analyzed in relationship with their respective stability boundary, in order to extrapolate useful implications on the different balance control of robot vs. human during the SS phase of walking. In addition, a metrics that quantifies the degree of instantaneous stability/instability is formulated, based on the relative distance from a COM state to the closest point on the stability boundary. The method and results proposed can help the improvement of current balance controllers in walking robots.

Original languageEnglish (US)
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages1155-1160
Number of pages6
ISBN (Electronic)9781509047185
DOIs
StatePublished - Dec 30 2016
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: Nov 15 2016Nov 17 2016

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
CountryMexico
CityCancun
Period11/15/1611/17/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Mummolo, C., Cursi, F., & Kim, J. H. (2016). Balanced and falling states for biped systems: Applications to robotic versus human walking stability. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 1155-1160). [7803416] (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803416