Distributed Bio-inspired Humanoid Posture Control
For humanoid robotics, this work addresses module conflicts in distributed control, but the improvement is incremental and limited to specific simulation scenarios.
The paper proposes a distributed bio-inspired posture control strategy for humanoids that uses a max-consensus protocol to enable only one module at a time for balancing, reducing conflicts and saving energy at the cost of higher rise time. Simulations on a triple inverted pendulum model demonstrate the approach.
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.