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

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

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

    7 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 languageEnglish
    Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
    Pages675-680
    Number of pages6
    DOIs
    Publication statusPublished - 2012
    Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome
    Duration: 2012 Jun 242012 Jun 27

    Other

    Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    CityRome
    Period12/6/2412/6/27

    Fingerprint

    Stabilization
    Inverse kinematics
    Controllers
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering
    • Mechanical Engineering

    Cite this

    Kryczka, P., Falotico, E., Hashimoto, K., Lim, H., Takanishi, A., Laschi, C., ... Berthoz, A. (2012). Implementation of a human model for head stabilization on a humanoid platform. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 675-680). [6290906] 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.; Lim, H.; Takanishi, Atsuo; Laschi, C.; Dario, P.; Berthoz, A.

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 675-680 6290906.

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