TY - GEN
T1 - Implementation of a human model for head stabilization on a humanoid platform
AU - Kryczka, P.
AU - Falotico, E.
AU - Hashimoto, K.
AU - Lim, H.
AU - Takanishi, A.
AU - Laschi, C.
AU - Dario, P.
AU - Berthoz, A.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84867431356&partnerID=8YFLogxK
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U2 - 10.1109/BioRob.2012.6290906
DO - 10.1109/BioRob.2012.6290906
M3 - Conference contribution
AN - SCOPUS:84867431356
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 675
EP - 680
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -