Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm
The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/126570 |
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| _version_ | 1832549168680271872 |
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| author | Jacopo Zenzeri Dalia De Santis Vishwanathan Mohan Maura Casadio Pietro Morasso |
| author_facet | Jacopo Zenzeri Dalia De Santis Vishwanathan Mohan Maura Casadio Pietro Morasso |
| author_sort | Jacopo Zenzeri |
| collection | DOAJ |
| description | The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot. |
| format | Article |
| id | doaj-art-75f1fb5de1ec46dda56fe3e44683d2f6 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-75f1fb5de1ec46dda56fe3e44683d2f62025-02-03T06:12:02ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/126570126570Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion ParadigmJacopo Zenzeri0Dalia De Santis1Vishwanathan Mohan2Maura Casadio3Pietro Morasso4RBCS Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, ItalyRBCS Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, ItalyRBCS Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, ItalyDIBRIS Department, University of Genoa, Viale Causa, 13 16145 Genoa, ItalyRBCS Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, ItalyThe goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.http://dx.doi.org/10.1155/2013/126570 |
| spellingShingle | Jacopo Zenzeri Dalia De Santis Vishwanathan Mohan Maura Casadio Pietro Morasso Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm Journal of Robotics |
| title | Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm |
| title_full | Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm |
| title_fullStr | Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm |
| title_full_unstemmed | Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm |
| title_short | Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm |
| title_sort | using the functional reach test for probing the static stability of bipedal standing in humanoid robots based on the passive motion paradigm |
| url | http://dx.doi.org/10.1155/2013/126570 |
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