Abstract
This paper presents the novel humanoid postural control (PC) architecture for the humanoid robot TEO. It is outlined the high level and human inspired system for improving task performance. The study of the human PC system has inspired all processes involved in the control system. The information coming from sensors is interpreted applying neurophysics concepts and, then, the resulting perceptual parameters are applied for task performance improvement. The new PC system is an anticipative module complementing an existing reactive subsystem. This design tries to replicate the operation of the human case. In this way, the reactions can be more complex and higher perturbations levels can be overcome.
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Martinez, S., Jardón, A., Balaguer, C. (2014). High Level Humanoid Postural Control Architecture with Human Inspiration. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-319-03413-3_45
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DOI: https://doi.org/10.1007/978-3-319-03413-3_45
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