journal contribution posted on 2007-01-01, 00:00 authored by Christopher G. Atkeson, Benjamin Stephens
Multiple strategies for standing balance have been
observed in humans, including using the ankles to apply torque
to the ground, using the hips and/or arms to generate horizontal
ground forces, and using the knees and hips to squat. This
paper shows that multiple strategies can arise from the same
optimization criterion. It is likely that humanoid robots will
exhibit the same balance strategies as humans.
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