TY - GEN
T1 - A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform
AU - Kryczka, Przemyslaw
AU - Falotico, Egidio
AU - Hashimoto, Kenji
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
AU - Laschi, Cecilia
AU - Dario, Paolo
AU - Berthoz, Alain
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2012.6386177
DO - 10.1109/IROS.2012.6386177
M3 - Conference contribution
AN - SCOPUS:84872311636
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2076
EP - 2081
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -