Biomechatronics | Models of Human Balance Control
Massachusetts institute of technology, MIT, MIT Media Lab, robotics, prosthetics, prostheses, exoskeletons, orthoses, orthosis, science, engineering, biomechanics, mechatronics,
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Models of Human Balance Control

About

Studying human balance control strategies can give valuable insight for controlling robotic postural systems, or for developing balance-training tools in the rehabilitation realm.

Hugh Herr
Alumnus Contributor: Andreas Hofman

Publications

A. Hofmann, M. Popovic, and H. M. Herr.
Exploiting angular momentum to enhance bipedal center-of-mass control,
IEEE ICRA, 2009.

M. Vukobratovic, et al.
Biological Principles of Control Selection for a Humanoid Robot’s Dynamic Balance Preservation,
Intl. J. Humanoid Robotics, 2008.

M. Popovic, A. Hofmann, and H. Herr.
Angular momentum regulation during human walking: biomechanics and control,
IEEE ICRA, 2004.

M. Popovic, A. Hofmann, and H. Herr.
Zero spin angular momentum control: definition and applicability,
Intl. Conf. Humanoid  Robots, 2004.

A. Hofmann, S. Massaquoi, M. Popovic, and H. Herr.
A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs,
IEEE IROS, 2004.

A. Hofmann, M. Popovic, and H. Herr.
Humanoid standing control: learning from human demonstration,
J. Automatic Control, 2002.