Implementation of a human model for head stabilization on a humanoid platform

P. Kryczka; E. Falotico; K. Hashimoto; H. Lim; A. Takanishi; C. Laschi; P. Dario; A. Berthoz

doi:10.1109/BioRob.2012.6290906

Implementation of a human model for head stabilization on a humanoid platform

P. Kryczka^*, E. Falotico, K. Hashimoto, H. Lim, A. Takanishi, C. Laschi, P. Dario, A. Berthoz

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

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.

Original language	English
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages	675-680
Number of pages	6
DOIs	https://doi.org/10.1109/BioRob.2012.6290906
Publication status	Published - 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: 2012 Jun 24 → 2012 Jun 27

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	12/6/24 → 12/6/27

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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10.1109/BioRob.2012.6290906

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Kryczka, P., Falotico, E., Hashimoto, K., Lim, H., Takanishi, A., Laschi, C., Dario, P., & Berthoz, A. (2012). Implementation of a human model for head stabilization on a humanoid platform. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 675-680). [6290906] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290906

Implementation of a human model for head stabilization on a humanoid platform. / Kryczka, P.; Falotico, E.; Hashimoto, K. et al.

2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 675-680 6290906 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kryczka, P, Falotico, E, Hashimoto, K, Lim, H, Takanishi, A, Laschi, C, Dario, P & Berthoz, A 2012, Implementation of a human model for head stabilization on a humanoid platform. in 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012., 6290906, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 675-680, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 12/6/24. https://doi.org/10.1109/BioRob.2012.6290906

Kryczka P, Falotico E, Hashimoto K, Lim H, Takanishi A, Laschi C et al. Implementation of a human model for head stabilization on a humanoid platform. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 675-680. 6290906. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BioRob.2012.6290906

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AU - Dario, P.

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Implementation of a human model for head stabilization on a humanoid platform

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