被动机器人.pdf

Journal of Physiology - Paris 103 (2009) 149–158 Contents lists available at ScienceDirect Journal of Physiology - Paris journal homepage: www.elsevier.c om/locate/jphysparis Comparison of human and humanoid robot control of upright stance Robert J. Peterka * Biomedical Engineering Division, Oregon Health Science University, OHSU West Campus, Mail Code NSI, 505 NW 185th Avenue, Beaverton, Oregon 97006, USA a r t i c l e i n f o a b s t r a c t Keywords: There is considerable recent interest in developing humanoid robots. An important substrate for many Robot motor actions in both humans and biped robots is the ability to maintain a statically or dynamically sta- Human ble posture. Given the success of the human design, one would expect there are lessons to be learned in Stance control formulating a postural control mechanism for robots. In this study we limit ourselves to considering the Zero moment point problem of maintaining upright stance. Human stance control is compared to a suggested method for ZMP robot stance control called zero moment point (ZMP) compensation. Results from experimental and mod- Sensory integration eling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to 1 Hz) dynamic characteristics of human stance control. These