Carnegie Mellon University
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Multiple Balance Strategies From One Optimization Criterion

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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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