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Authors: Vittorio Lippi and Fabio Molinari

Affiliation: Technische Universität Berlin, Fachgebiet Regelungssysteme, Einsteinufer 17 D-10587, Berlin, Germany

Keyword(s): Posture Control, Humanoid, Stability.

Abstract: Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.

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Paper citation in several formats:
Lippi, V. and Molinari, F. (2020). Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 726-733. DOI: 10.5220/0009970307260733

@conference{icinco20,
author={Vittorio Lippi and Fabio Molinari},
title={Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={726-733},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009970307260733},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance
SN - 978-989-758-442-8
IS - 2184-2809
AU - Lippi, V.
AU - Molinari, F.
PY - 2020
SP - 726
EP - 733
DO - 10.5220/0009970307260733
PB - SciTePress

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