Dynamic balance
Related papers: 20
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Dynamic balance refers to the ability of a robot or system to maintain stability while in motion, continuously adjusting its posture and forces to prevent falling despite changing conditions. Unlike static balance, which concerns stability at rest, dynamic balance involves managing momentum, ground contact forces, and body configuration across time as the system moves. In robotics, it is most critical for legged systems—bipedal humanoids, quadrupeds, and multi-legged robots—where the support base shifts continuously during locomotion. Techniques such as Zero Moment Point (ZMP) control, Capture Point methods, angular momentum regulation, and model-based force control are widely used to achieve and maintain dynamic balance. Controllers may incorporate neural networks, fuzzy logic, or reinforcement learning to adapt to uneven terrain and unexpected disturbances. Dynamic balance matters because it is a prerequisite for practical deployment of legged robots in real-world environments, enabling tasks like walking over rough terrain, recovering from pushes, and safely operating alongside humans.
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Legged Robots That Balance
Marc H. Raibert, Ernest R. Tello
Citations: 2724 • 1986
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
Citations: 709 • 2018
On the Improvement of Multi-Legged Locomotion over Difficult Terrains Using a Balance Stabilization Method
Umar Asif, Javaid Iqbal
Citations: 377 • 2012
Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking
J. Yamaguchi, Eiji Soga, Shintaro Inoue, Atsuo Takanishi
Citations: 358 • 2003
Dynamically-Stable Motion Planning for Humanoid Robots
James Kuffner, Satoshi Kagami, Koichi Nishiwaki, Masayuki Inaba, Hirochika Inoue
Citations: 268 • 2002
Dynamic Balance Force Control for compliant humanoid robots
Benjamin Stephens, C.G. Atkeson
Citations: 264 • 2010
Rate of change of angular momentum and balance maintenance of biped robots
Ambarish Goswami, Vinutha Kallem
Citations: 233 • 2004
Real-time neural network control of a biped walking robot
Wallace T. Miller
Citations: 165 • 1994
Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances
Shin’ichiro Nakaoka, Atsushi Nakazawa, Fumio Kanehiro, Kenji Kaneko, Mitsuharu Morisawa, Hirohisa Hirukawa, Katsushi Ikeuchi
Citations: 151 • 2007
Motion planning for humanoid robots under obstacle and dynamic balance constraints
James Kuffner, Keiji Nishiwaki, S. Kagami, Makoto Inaba, H. Inoue
Citations: 125 • 2002
Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics
Derek Wight, Eric Kubica, David W. L. Wang
Citations: 118 • 2007
Relationships between frontal-plane angular momentum and clinical balance measures during post-stroke hemiparetic walking
Cameron Nott, Richard R. Neptune, Steven A. Kautz
Citations: 115 • 2013
Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement
Jung-Yup Kim, Ill-Woo Park, Jun-Ho Oh
Citations: 112 • 2006
Integral control of humanoid balance
Benjamin Stephens
Citations: 104 • 2007
Dynamic balance of a biped robot using fuzzy reinforcement learning agents
Changjiu Zhou, Qingchun Meng
Citations: 104 • 2003
Robot-assisted vs. sensory integration training in treating gait and balance dysfunctions in patients with multiple sclerosis: a randomized controlled trial
Marialuisa Gandolfi, Christian Geroin, Alessandro Picelli, Daniele Munari, Andreas Waldner, Stefano Tamburin, Fabio Marchioretto, Nicola Smania
Citations: 99 • 2014
Balance control based on Capture Point error compensation for biped walking on uneven terrain
Mitsuharu Morisawa, Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kanako Miura, Kazuhito Yokoi
Citations: 97 • 2012
ZMP: A REVIEW OF SOME BASIC MISUNDERSTANDINGS
Miomir Vukobratović, Branislav Borovać, Veljko Potkonjak
Citations: 97 • 2006
Adaptive dynamic balance of a biped robot using neural networks
Andrew L. Kun, Wallace T. Miller
Citations: 95 • 2002
Dynamic Balance Control of Multi-Arm Free-Floating Space Robots
Panfeng Huang, Yangsheng Xu, Bin Liang
Citations: 88 • 2005