Balance Control based on Ground Reaction Force

When we are riding on a train or a bus, we will feel that a point we place our weight, though it is equivallent to the center of the reaction force from the floor, is moving under the feet. Then we try keeping it at the middle of the feet. Based on this idea, we propose a balance control method utilizing the feedback of the ground reaction force. Our control method makes the posture adaptively change with the external forces. The stability of the steady state is discussed in relation with the feedback gains.

Papers

A Standing Posture Control Based on Ground Reaction Force
Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1340-1345 (2000)
Satoshi Ito, Haruhisa Kawasaki

Upright Posture Stabilization by Ground Reaction Force Control
Proceeding of the International Symposium on Measurement, Analysis and Modeling of Human Functions , pp. 515-520 (2001)
Satoshi ito, Tomohiro Nishigaki, Haruhisa Kawasaki

床反力に基づいた一定外力場での起立姿勢に対する制御法
計測自動制御学会論文集 , Vol. 38 , No. 1 , pp. 79-86 (2002)
伊藤聡，西垣智啓，川崎晴久

A static balance control under periodic external force
Proc. of SICE Annual Conference 2003 , pp. 600-605 (2003)
Satoshi Ito, Yoshihiro Aoyama, Haruhisa Kawasaki

Static balance control and external force estimation using ground reaction force
Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines , pp. WeP-I-4 (2003)
Satoshi Ito, Yoshihiro Aoyama, Haruhisa Kawasaki

Learning of torque pattern generator for locomotion based on balance control
Proc. of SICE Annual Conference 2004 , pp. 993-998 (2004)
Satoshi Ito, Yoshihisa Saka, Haruhisa Kawasaki

周期外力下の立位平衡制御におけるトルクパターンの内的生成
計測自動制御学会論文集 , Vol. 40 , No. 3 , pp. 346-352 (2004)
伊藤聡，川崎晴久

Experiments on torque pattern learning for static balance with respect to unknown periodic external force
Proc. of SICE Annual Conference 2005 , pp. 2647-2452 (2005)
Satoshi Ito, Kohei Moriki, Masato Suzuki, Minoru Sasaki, Haruhisa Kawasaki

Robot experiment of torque learning for biped balance with respect to periodic external force
Proc. of 2005 12th International Conference on Advanced Robotics , pp. 418-423 (2005)
Satoshi Ito, Kohei Moriki, Minoru Sasaki, Haruhisa Kawasaki

Regularity in an environment produces an internal torque pattern for biped balance control
Biological Cybernetics , Vol. 92 , No. 4 , pp. 241-251 (2005)
Satoshi Ito, Haruhisa Kawasaki

床反力情報に基づいた平衡制御と歩行パターン生成器のオンライン・リズム学習
電子情報通信学会論文誌 D-II , Vol. J88-D-II , No. 2 , pp. 406-415 (2005)
伊藤聡，阪圭央，川崎晴久，佐々木実

A study of biped balance control using proportional feedback of ground reaction forces
Proc. of SICE-ICASE International Joint Conference 2006 , pp. 2368-2371 (2006)
Satoshi Ito, Hiroshi Takishita, Minoru Sasaki

Period estimation of unknown periodic perturbation in biped balance control
2009 International Conference on Mechatronics and Information Technology , pp. 408-409 (2009)
Satoshi Ito, Tomohiro Kashima, Minoru Sasaki

周期外乱に対する立位平衡の制御と学習に関する検討
バイオメカニズム学会誌 , Vol. 33 , No. 1 , pp. 50-55 (2009)
浅井康次，伊藤聡，佐々木実

Desired trajectory generation for Balancing with respect to periodic external force
Proceedings of CLAWAR'2010: 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines , pp. 1139-1144 (2010)
Satoshi Ito, Yuusuke Satake, Minoru Sasak

A biped static balance control and torque pattern learning under unknown periodic external forces
the International Scientific Journal Engineering Applications of Artificial Intelligence , Vol. 23 , No. 7 , pp. 1093-1104 (2010)
Satoshi Ito, Tomohiro Kashima, Minoru Sasaki