Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm | Zendy

Jacopo Zenzeri | Zendy; Dalia De Santis | Zendy; Vishwanathan Mohan | Zendy; Maura Casadio | Zendy; Pietro Morasso | Zendy

Open Access

Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

Author(s) -

Jacopo Zenzeri,

Dalia De Santis,

Vishwanathan Mohan,

Maura Casadio,

Pietro Morasso

Publication year - 2013

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2013/126570

Subject(s) - icub , humanoid robot , computer science , stability (learning theory) , motion (physics) , robot , falling (accident) , simulation , artificial intelligence , machine learning , psychology , psychiatry

The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot

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