LARP, biped robotics conceived as human modeling

Umberto Scarfogliero; Michele Folgheraiter; Giuseppina Gini

doi:10.1007/11521082_18

LARP, biped robotics conceived as human modeling

Umberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This paper presents a human-like control of an innovative biped robot. The robot presents a total of twelve degrees of freedom; each joint resemble the functionalities of the human articulation and is moved by tendons connected with an elastic actuator located in the robot's pelvis. We implemented and tested an innovative control architecture (called elastic-reactive control) that permits to vary the joint stiffness in real time maintaining a simple position-control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory.

Original language	English
Title of host publication	Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience
Editors	Stefan Wermter, Mark Elshaw, Gunther Palm
Pages	299-314
Number of pages	16
DOIs	https://doi.org/10.1007/11521082_18
Publication status	Published - 2005
Externally published	Yes

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	3575 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/11521082_18

Cite this

Scarfogliero, U., Folgheraiter, M., & Gini, G. (2005). LARP, biped robotics conceived as human modeling. In S. Wermter, M. Elshaw, & G. Palm (Eds.), Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience (pp. 299-314). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 3575 LNAI). https://doi.org/10.1007/11521082_18

LARP, biped robotics conceived as human modeling. / Scarfogliero, Umberto; Folgheraiter, Michele; Gini, Giuseppina.
Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience. ed. / Stefan Wermter; Mark Elshaw; Gunther Palm. 2005. p. 299-314 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 3575 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Scarfogliero, U, Folgheraiter, M & Gini, G 2005, LARP, biped robotics conceived as human modeling. in S Wermter, M Elshaw & G Palm (eds), Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 3575 LNAI, pp. 299-314. https://doi.org/10.1007/11521082_18

Scarfogliero U, Folgheraiter M, Gini G. LARP, biped robotics conceived as human modeling. In Wermter S, Elshaw M, Palm G, editors, Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience. 2005. p. 299-314. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/11521082_18

Scarfogliero, Umberto ; Folgheraiter, Michele ; Gini, Giuseppina. / LARP, biped robotics conceived as human modeling. Biomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience. editor / Stefan Wermter ; Mark Elshaw ; Gunther Palm. 2005. pp. 299-314 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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LARP, biped robotics conceived as human modeling

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