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A biomimetic framework for coordinating and controlling whole body movements in humanoid robots

Pietro Morasso, Francesco Rea, Vishwanathan Mohan

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |October 11, 2013
    PubMed

    Abstract:

    An integrated model for the coordination of whole body movements of a humanoid robot with a compliant ankle similar to the human case is described. It includes a synergy formation part, which takes into account the motor redundancy of the body model, and an intermittent controller, which stabilizes in a robust way postural sway movements, thus combining the hip strategy with ankle strategy.

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