Human-Inspired Balance Control of a Humanoid on a Rotating Board

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 784)


We present a stability analysis of the upright stance of a model of a humanoid robot balancing on a rotating board and driven by a human-inspired control strategy. The humanoid-board system is modeled as a triple inverted pendulum actuated by torques at the board’s hinge, ankle joint, and hip joint. The ankle and hip torques consider proprioceptive and vestibular angular information and are affected by time delays. The stability regions in different parameter’ spaces are bounded by pitchfork and Hopf’s bifurcations. It is shown that increasing time delays do not affect the pitchfork but they shrink the Hopf bifurcations. Moreover, the human-inspired control strategy is able to control the upright stance of a humanoid robot in the presence of time delays. However, more theoretical and experimental studies are necessary to validate the present results.


Humanoid robot Stability analysis Upright stance Delay differential equation DDE-BIFTOOL 


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© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringTexas Tech UniversityLubbockUSA

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