AI Article Synopsis
- The text presents an integrated model for coordinating whole body movements in a humanoid robot that mimics human mechanics, particularly focusing on a compliant ankle.
- It features a synergy formation component to handle the body's motor redundancy effectively.
- Additionally, it incorporates an intermittent controller that stabilizes postural sway, merging both hip and ankle strategies for improved balance.
Article 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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| http://dx.doi.org/10.1109/EMBC.2013.6610747 | DOI Listing |
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