Control of Postural Balance for a Tensegrity-based Vertebral Column Robot

Overview & Synopsis

We present a neural architecture capable to control synergistically a flexible robotic model of the human vertebral column toward balance and upward posture. The neural controller is composed of non-linear oscillators that control each vertebrae of the column constructed on the principle of tensegrity. They play the role of the central pattern generators in the spinal cords to generate rhythmical patterns and to be entrained to the resonant modes of the tensegrity system. After exploration of the different coordination regimes for different coupling parameters, the top-down controller is able to dynamically select, amplify or inhibit each motor synergy for upward postural balance even with respect to external perturbations.