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

Models of Human Balance Control


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
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.