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 publicationIEEE International Conference on Intelligent Robots and Systems
    Pages2076-2081
    Number of pages6
    DOIs
    Publication statusPublished - 2012
    Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
    Duration: 2012 Oct 72012 Oct 12

    Other

    Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    CityVilamoura, Algarve
    Period12/10/712/10/12

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    ASJC Scopus subject areas

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

    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 IEEE International Conference on Intelligent Robots and Systems (pp. 2076-2081). [6386177] https://doi.org/10.1109/IROS.2012.6386177