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Poppy Humanoid Platform: Experimental Evaluation of the Role of a Bio-inspired Thigh Shape
Abstract : In this paper, we present an experimental evaluation of the role of the morphology in the Poppy humanoid platform. More precisely, we have investigated the impact of the bio-inspired thigh, bended of 6°, on the balance and biped locomotion. We compare this design with a more traditional straight thigh. We describe both the theoretical model and real experiments showing that the bio-inspired thigh allows the reduction of falling speed by almost 60\% (single support phase) and the decrease of the lateral motion needed for the mass transfer from one foot to the other by 30\% (double support phase). We also present an experiment where the robot walks on a treadmill thanks to the social and physical guidance of expert users and we show that the bended thigh reduces the upper body motion by about 45\% indicating a more stable walk.
Cited literature [34 references]
https://hal.inria.fr/hal-00861110
Contributor : Matthieu Lapeyre <>
Submitted on : Wednesday, September 11, 2013 - 10:18:11 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Document(s) archivé(s) le : Thursday, April 6, 2017 - 6:41:09 PM
Contributor : Matthieu Lapeyre <>
Submitted on : Wednesday, September 11, 2013 - 10:18:11 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Document(s) archivé(s) le : Thursday, April 6, 2017 - 6:41:09 PM
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humanoid2013.pdf
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