Skip to Main content Skip to Navigation
Conference papers

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

Matthieu Lapeyre 1 Pierre Rouanet 1 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
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.
Document type :
Conference papers
Complete list of metadata

Cited literature [34 references]  Display  Hide  Download
Contributor : Matthieu Lapeyre Connect in order to contact the contributor
Submitted on : Wednesday, September 11, 2013 - 10:18:11 PM
Last modification on : Friday, December 3, 2021 - 11:34:06 AM
Long-term archiving on: : Thursday, April 6, 2017 - 6:41:09 PM


Files produced by the author(s)


  • HAL Id : hal-00861110, version 1



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⟩



Les métriques sont temporairement indisponibles