A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform

Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

The results of the neuroscientific research show that humans tend to stabilize the head orientation during locomotion. In this paper we describe the implementation of inverse kinematics based head stabilization controller on the humanoid platform. The controller uses the IMU feedback and controls neck joints in order to align the head orientation with the global orientation reference. Thanks to the method, we can decouple the orientational motion of the head from the rest of the body. This way stabilized head becomes better platform for proprioceptive sensory apparatus, such as cameras or IMU. In the paper we present three experiments which prove that the method has good performance in damping both, high and low frequency motion of the head. We also prove that the proposed controller improves the stability of the tracked goal point on the image of in-built camera.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2076-2081
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kryczka, P., Falotico, E., Hashimoto, K., Lim, H. O., Takanishi, A., Laschi, C., Dario, P., & Berthoz, A. (2012). A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2076-2081). [6386177] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386177