DocumentCode :
3409941
Title :
Poppy humanoid platform: Experimental evaluation of the role of a bio-inspired thigh shape
Author :
Lapeyre, Matthieu ; Rouanet, Pierre ; Oudeyer, Pierre-Yves
Author_Institution :
INRIA Flowers Team, Bordeaux, France
fYear :
2013
fDate :
15-17 Oct. 2013
Firstpage :
376
Lastpage :
383
Abstract :
In this paper, we present an experimental evaluation of the role of the morphology in the Poppy humanoid platform. More precisely, we have investigated the impact of the bio-inspired thigh, bended of 6°, on the balance and biped locomotion. We compare this design with a more traditional straight thigh. We describe both the theoretical model and real experiments showing that the bio-inspired thigh allows the reduction of falling speed by almost 60% (single support phase) and the decrease of the lateral motion needed for the mass transfer from one foot to the other by 30% (double support phase). We also present an experiment where the robot walks on a treadmill thanks to the social and physical guidance of expert users and we show that the bended thigh reduces the upper body motion by about 45% indicating a more stable walk.
Keywords :
humanoid robots; legged locomotion; motion control; velocity control; Poppy humanoid platform; bended thigh; bioinspired thigh shape; biped locomotion; double support phase; falling speed reduction; lateral motion; mass transfer; physical guidance; robot walking; social guidance; stable walk; straight thigh; treadmill; upper body motion; Foot; Legged locomotion; Morphology; Robustness; Shape; Thigh;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
Conference_Location :
Atlanta, GA
ISSN :
2164-0572
Print_ISBN :
978-1-4799-2617-6
Type :
conf
DOI :
10.1109/HUMANOIDS.2013.7030002
Filename :
7030002
Link To Document :
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