A Bio-inspired Modular System for Humanoid Posture Control

Bio-inspired sensorimotor control systems may be appealing to roboticists who try to solve problems of multiDOF humanoids and human-robot interactions. This paper presents a simple posture control concept from neuroscience, called disturbance estimation and compensation, DEC concept [1]. It provides human-like mechanical compliance due to low loop gain, tolerance of time delays, and automatic adjustment to changes in external disturbance scenarios. Its outstanding feature is that it uses feedback of multisensory disturbance estimates rather than ‘raw’ sensory signals for disturbance compensation. After proof-of-principle tests in 1 and 2 DOF posture control robots, we present here a generalized DEC control module for multi-DOF robots. In the control layout, one DEC module controls one DOF (modular control architecture). Modules of neighboring joints are synergistically interconnected using vestibular information in combination with joint angle and torque signals. These sensory interconnections allow each module to control the kinematics of the more distal links as if they were a single link. This modular design makes the complexity of the robot control scale linearly with the DOFs and error robustness high compared to monolithic control architectures. The presented concept uses Matlab/Simulink (The MathWorks, Natick, USA) for both, model simulation and robot control and will be available as open library.

• Publication year

  2021

• Venue

  arXiv.org

• Publication date

  2021-12-04

• Fields of study

  Computer Science, Engineering

• Identifiers
  arXiv 2112.02356
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Human hip-ankle coordination emerging from multisensory feedback control.

  2014influential reference
• DOUBLE INVERTED PENDULUM MODEL OF REACTIVE HUMAN STANCE CONTROL

  2014cited by this paper
• Modularity for Sensorimotor Control: Evidence and a New Prediction

  2010cited by this paper
• A neurological view on reactive human stance control

  2010influential reference
• Potential roles of force cues in human stance control

  2009cited by this paper
• Biologically-inspired humanoid postural control.

  2009cited by this paper
• Vestibular humanoid postural control.

  2009influential reference
• Human stance control beyond steady state response and inverted pendulum simplification

  2008cited by this paper
• Biological and engineering approaches to human postural control

  2007cited by this paper
• Dimensional reduction in sensorimotor systems: a framework for understanding muscle coordination of posture.

  2007cited by this paper
• Multisensory control of human upright stance

  2006influential reference
• Coordination of Locomotion with Voluntary Movements in Humans

  2005cited by this paper
• A multisensory posture control model of human upright stance.

  2003cited by this paper
• Sensorimotor integration in human postural control.

  2002cited by this paper
• The construction of movement by the spinal cord

  1999cited by this paper
• A multisensory integration model of human stance control

  1999cited by this paper
• Representation of multiple kinematic parameters of the cat hindlimb in spinocerebellar activity.

  1997cited by this paper
• Mechanisms of ataxia.

  1997cited by this paper
• Vestibular-Neck Interaction and Transformation of Sensory Coordinates

  1997cited by this paper
• Postural Orientation and Equilibrium

  1995cited by this paper
• Human postural dynamics.

  1991cited by this paper
• Biomechanics and Motor Control of Human Movement

  1990cited by this paper
• Effects of static tilt on cervical spinoreticular tract neurons.

  1976cited by this paper

• Computationally Affordable Hierarchical Framework for Humanoid Robot Control

  2021cites this paper
• Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance

  2020influential citation
• Deep Learning for Posture Control Nonlinear Model System and Noise Identification

  2020cites this paper
• A Challenge: Support of Standing Balance in Assistive Robotic Devices

  2020cites this paper
• Distributed Bio-inspired Humanoid Posture Control

  2019cites this paper
• Assessing bipedal locomotion: towards replicable benchmarks for robotic and robot-assisted locomotion.

  2019cites this paper
• A Human-Like Control for Sensorimotor Multi-Tasking in Humanoid Robots

  2015cites this paper