Biped stability considerations with vestibular models

Abstract

Recent experimental work has resulted in certain models for the semicircular canals and otoliths. The accuracy and adequacy of these models are analyzed here by incorporating them in stability studies of biped robots-one-degree and two-degree-of-freedom inverted pendulums. It is shown that a variety of feedback signals can stabilize biped models of these types. Additional information could limit the choice of such signals.