The dynamic postural adjustment with the quadratic programming method

Abstract

The postural balance system is one of the most fundamental functions for humanoid robot control. In this paper, we propose a new feedback balance control system for the human body. This system can manipulate large perturbations. It finds the optimal motion for maintaining balance in the 3D space without receiving any feed-forward input beforehand. Two different strategies are adopted for the optimization: the quadratic programming method and the PD control. Simulation results are compared with real human motion; many common features such as rotating arms are observed.