Poppy Humanoid Platform: Experimental Evaluation of the Role of a Bio-inspired Thigh Shape - Archive ouverte HAL Access content directly
Conference Papers Year : 2013

Poppy Humanoid Platform: Experimental Evaluation of the Role of a Bio-inspired Thigh Shape

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Matthieu Lapeyre
Pierre Rouanet
Pierre-Yves Oudeyer

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.
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Dates and versions

hal-00861110 , version 1 (11-09-2013)

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  • HAL Id : hal-00861110 , version 1

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Matthieu Lapeyre, Pierre Rouanet, Pierre-Yves Oudeyer. Poppy Humanoid Platform: Experimental Evaluation of the Role of a Bio-inspired Thigh Shape. Humanoids 2013, Oct 2013, Atlanta, United States. ⟨hal-00861110⟩
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