Biological Principles of Preserving Dynamic Balance of Humanoid Robot Posture

Conference Paper

B. Borovac; M. Nikolić

14th International Scientific Conference on INDUSTRIAL SYSTEMS - IS'08, Novi Sad, Serbia, Oct. 2, 2008-Oct. 3, 2017


pp. 135-144


Basic characteristics of humanoid (biped) robots is requirement for permanent preservation of dynamic balance. Smal perturbations are permanently present and their comepensation is performed without obstruction of walk already started. However, large perturbations directly endanger dynamic balance. Thus, compensation requires different strategies for each of those two cases. In this paper are studied comensation techniques humans performed to preserve posture under influence of large perturbations.