Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm. (11th April 2013)

• Record Type: Journal Article
• Authors: Zenzeri, Jacopo; De Santis, Dalia; Mohan, Vishwanathan; Casadio, Maura; Morasso, Pietro
• Other Names: Muscato G. Academic Editor.
• Is Part Of: Journal of robotics. Volume 2013(2013)
• Publication Date: 2013-04-11
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2013/126570
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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.