SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking

  • Bojan Jakimovski
  • Michael Kotke
  • Martin Hörenz
  • Erik Maehle
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 329)


In this paper we elaborate a study on self-stabilizing humanoid robot that achieves run-time self-stabilization and energy optimized walking gait pattern parameters on different kinds of flat surfaces. The algorithmic approach named SelSta uses biologically inspired notions that introduce robustness into the self-stabilizing functionality of the humanoid robot. The approach has been practically tested on our S2-HuRo humanoid robot and the results from the tests demonstrate that it can be successfully used on humanoid robots to achieve autonomic optimized stabilization of their walking on different kinds of flat surfaces.


Self-stabilizing humanoid robot S2-HuRo biologically inspired approach symbiosis SelSta approach humanoid robot walking optimization 


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Copyright information

© IFIP 2010

Authors and Affiliations

  • Bojan Jakimovski
    • 1
  • Michael Kotke
    • 1
  • Martin Hörenz
    • 1
  • Erik Maehle
    • 1
  1. 1.Institute of Computer EngineeringUniversity LübeckGermany

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