TY - JOUR ID - 72194 TI - Receding Horizon Based Control of Disturbed Upright Balance with Consideration of Foot Tilting(RESEARCH NOTE) JO - International Journal of Engineering JA - IJE LA - en SN - 1025-2495 AU - Sedaghatkish Khoshkbijari, Ahad AU - Bagheri, Ahmad AU - Miripour Fard, Behanm AD - Mechainical Engineering Department, Guilan University AD - Mechanical Engineering, University of Guilan AD - Department of Robotics Engineering, Hamedan University of Technology Y1 - 2013 PY - 2013 VL - 26 IS - 10 SP - 1243 EP - 1254 KW - Hybrid Model KW - Receding Horizon Approach KW - Upright Balance KW - External Disturbances DO - N2 - In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is presented that includes the foot tilting. This is done by hybrid modeling of the humanoid robot and also using a receding horizon based approach. The decision for the recovery pattern is done based on the evaluation of the Vertical Forces criterion. If the method predicts the tilting of the foot under disturbance, then the optimum trajectories are obtained for upper segments to return the robot to the secure posture in which the foot is flat (home posture). The obtained optimum trajectories are then tracked by a feedback controller. In the context of receding horizon approach the Extrapolated Center of Mass position has been used as the stability constraint. The results demonstrate the success of method to reproduce human-like balance recovery reactions under impulsive disturbances. The simulated results are compared with experimental data reported in the biomechanics literature. UR - https://www.ije.ir/article_72194.html L1 - https://www.ije.ir/article_72194_de5cd0d1850172e311ee71345ea9f417.pdf ER -