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.
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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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