LARP, biped robotics conceived as human modeling

Umberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 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 languageEnglish
Title of host publicationBiomimetic Neural Learning for Intelligent Robots - Intelligent Systems, Cognitive Robotics, and Neuroscience
EditorsStefan Wermter, Mark Elshaw, Gunther Palm
Pages299-314
Number of pages16
DOIs
Publication statusPublished - Dec 1 2005

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume3575 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • 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