Synthesis of complex locomotion behavior for humanoid robots based on biological principles
Research Area:
Biomedical and Biologically Motivated Technical ApplicationsResearchers:
Albert Mukovskiy; Martin A. GieseProposed start date:
2013-10-01Proposed end date:
2016-09-30Project page:
http://orb.iwr.uni-heidelberg.de/koroibot/Description:
Although locomotion is among the most common and flexible motor behaviours that humans exhibit in everyday life, it is however still one of the most challenging and interesting topic of research in robotics. Koroibot aims to enhance the ability of humanoid robots to walk in a dynamic and versatile fashion, in the way humans do. Our contribution to the project in includes:
- studying human locomotion in different challenging scenarios (such walking on slopes, stairs, step stones, on a narrow beam, as well as on hard and soft grounds) and in different biomechanical context and perturbations
- advancing unsupervised learning algorithms for the identification of motor primitives and motion segmentation
- developing advance dynamic models and controllers for the generation of complex locomotor behaviours for robotics and graphical applications
Koroibot is support by the European Union within the 7th Framework Program under Grant Agreement No. 611909 is gratefully acknowledged. To know more in details about the contribution that our group is providing to the Koroibot project please read on…
Subprojects
The control of locomotion likely combines lower-level controlled based on motion primitives and high-level cognitive strategies.
To provide the experimental and theoretical basis of the KOROIBOT project, human motion capture experiments are currently ongoing.
The project aims also to develop new methods for modelling complex whole-body movement in terms of extracted motion primitives extracted from kinematic data collected by motion capturing human motions.
Sequential goal-directed full-body motion is a challenging task for humanoid robots. An example is the coordination of bipedal walking with fast upper body movements.