  Bio-inspired sensorimotor control systems may be appealing to roboticists who
try to solve problems of multiDOF humanoids and human-robot interactions. This
paper presents a simple posture control concept from neuroscience, called
disturbance estimation and compensation, DEC concept [1]. It provides
human-like mechanical compliance due to low loop gain, tolerance of time
delays, and automatic adjustment to changes in external disturbance scenarios.
Its outstanding feature is that it uses feedback of multisensory disturbance
estimates rather than 'raw' sensory signals for disturbance compensation. After
proof-of-principle tests in 1 and 2 DOF posture control robots, we present here
a generalized DEC control module for multi-DOF robots. In the control layout,
one DEC module controls one DOF (modular control architecture). Modules of
neighboring joints are synergistically interconnected using vestibular
information in combination with joint angle and torque signals. These sensory
interconnections allow each module to control the kinematics of the more distal
links as if they were a single link. This modular design makes the complexity
of the robot control scale linearly with the DOFs and error robustness high
compared to monolithic control architectures. The presented concept uses
Matlab/Simulink (The MathWorks, Natick, USA) for both, model simulation and
robot control and will be available as open library
