# Distributed Bio-inspired Humanoid Posture Control

## TL;DR

This paper introduces a distributed bio-inspired posture control method for humanoids that uses a consensus protocol to coordinate modules, reducing conflicts and saving energy, demonstrated through simulations with a triple inverted pendulum model.

## Contribution

It proposes a novel distributed control strategy that coordinates modules via max-consensus, improving posture stability and energy efficiency in humanoid robots.

## Key findings

- Reduces conflicts among modules during posture control
- Achieves desired posture with energy savings
- Increases rise time in response to control

## Abstract

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.