Title :
Implementation of a human model for head stabilization on a humanoid platform
Author :
Kryczka, P. ; Falotico, E. ; Hashimoto, K. ; Lim, H. ; Takanishi, A. ; Laschi, C. ; Dario, P. ; Berthoz, A.
Author_Institution :
Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Abstract :
The neuroscientific research shows that humans tend to stabilize their head orientation, while accomplishing a locomotor task. In order to replicate head movement behaviors found in human walk it is necessary and sufficient to be able to control the orientation (roll, pitch and yaw) of the head in space. The described behaviors can be replicated by giving suitable references to the head orientation. Based on these principles, a model based on an inverse kinematics controller has been designed. In this paper we introduce implementation of the model on a humanoid platform. Along we present results of two sets of experiments performed to verify two aspects of the proposed model. The results prove that the model can be used to efficiently stabilize the head´s orientation.
Keywords :
humanoid robots; position control; stability; head movement behaviors; head orientation; head stabilization; human model; humanoid platform; inverse kinematics controller; Aerospace electronics; Joints; Kinematics; Legged locomotion; Magnetic heads; Robot kinematics;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
Print_ISBN :
978-1-4577-1199-2
DOI :
10.1109/BioRob.2012.6290906