@inproceedings{05c5d5470a7a419ea1d92cd2a0b9c641,
title = "Human-inspired balance control of a humanoid on a rotating board",
abstract = "We present a stability analysis of the upright stance of a model of a humanoid robot balancing on a rotating board and driven by a human-inspired control strategy. The humanoid-board system is modeled as a triple inverted pendulum actuated by torques at the board{\textquoteright}s hinge, ankle joint, and hip joint. The ankle and hip torques consider proprioceptive and vestibular angular information and are affected by time delays. The stability regions in different parameter{\textquoteright} spaces are bounded by pitchfork and Hopf{\textquoteright}s bifurcations. It is shown that increasing time delays do not affect the pitchfork but they shrink the Hopf bifurcations. Moreover, the human-inspired control strategy is able to control the upright stance of a humanoid robot in the presence of time delays. However, more theoretical and experimental studies are necessary to validate the present results.",
keywords = "DDE-BIFTOOL, Delay differential equation, Humanoid robot, Stability analysis, Upright stance",
author = "Erik Chumacero and James Yang",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG, part of Springer Nature 2019. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.; null ; Conference date: 21-07-2018 Through 25-07-2018",
year = "2019",
doi = "10.1007/978-3-319-94346-6_11",
language = "English",
isbn = "9783319943459",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer-Verlag",
pages = "115--126",
editor = "Jessie Chen",
booktitle = "Advances in Human Factors in Robots and Unmanned Systems - Proceedings of the AHFE 2018 International Conference on Human Factors in Robots and Unmanned Systems, 2018",
}