Biologically inspired behaviour: hip strategy applied to humanoid robot

With a view to better understand and to reproduce human ability, this paper presents a new approach based on the integration of postural movement notion into the dynamic control of a humanoid structure. The architecture, while controlling the body center of mass acceleration and forces, takes into account principles coming from the physiological field so as to keep the robot stability, even in the event of a rough perturbation. In the case of the standing posture, physiological data result in two main strategies called the ankle and the hip strategies. The work consist in identifying the behavioural rules and translating them using limit conditions and "equilibrium classes" notions. These rules form the AHS- (Ankle and Hip Strategy) module of the architecture "coordinator level". Finally, we propose to illustrate our approach through the simulation of the hip strategy.