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Sensory Adaptation in Human Balance Control: Lessons for Biomimetic Robotic Bipeds

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posted on 01.01.2008, 00:00 by Arash Mahboobin, Patrick J. Loughlin, Mark S. Redfern, Stuart O. Anderson, Christopher G. Atkeson, Jessica K. Hodgins
This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of a moving support platform on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We present results exploring sensory re-weighting in humans, simulation, and in a robot implementation.




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