A bio-inspired model of head stabilization implemented in a humanoid platform

Egidio Falotico (1) , Alain Berthoz (2) , Paolo Dario (3) , Cecilia Laschi (1)

1 The BioRobotics Institute
2 LPPA - Laboratoire de Physiologie de la Perception et de l'Action
3 CRIM Lab

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. Based on these principles, a model based on an inverse kinematics controller has been designed. Verification of the proposed controller is conducted through experiments with a humanoid robot SABIAN. Results of the implementation on the robotic platform show the controller is able to stabilize the pitch head rotation during walking.

Domaines: Automatique / Robotique

Egidio Falotico, Alain Berthoz, Paolo Dario, Cecilia Laschi. A bio-inspired model of head stabilization implemented in a humanoid platform. Proceedings of the Third Conference of the Italian National Group of Bioengineering, Jun 2012, Rome, Italy. ⟨hal-01142703⟩