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

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ2076-2081
ページ数6
DOI
出版ステータスPublished - 2012 12 1
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
継続期間: 2012 10 72012 10 12

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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