Российская академия наук


Movement control of anthropomorphic robot using a human-inspired “natural synergies” concept



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Movement control of anthropomorphic robot using a human-inspired “natural synergies” concept

Alexandrov A.V.1, Mergner Т.2, Frolov А.А.1, Hettich G.2

1Institute of Higher Nervous Activity and Neurophysiology, Russian Academy of Science, Moscow, Russia; 2Neurology, University of Freiburg, Germany
Biologically inspired principles of the humanoid’s control of biped stance are investigated theoretically and experimentally. The theoretical part is based on the quantitative analysis of a biomechanical model of the human body using anthropometric parameters. The experimental part includes experiments with a humanoid robot in which the theoretically obtained principles for the stable control are implemented. Movement analysis is performed in terms of the movements along eigenvectors of the model’s dynamic equation (“eigenmovements” or “natural synergies”). The study demonstrates that stable control in the anthropomorphic robot can be realized on the basis of the natural synergies concept. The natural synergies are kinematically and dynamically independent from each other, allowing their independent control, as it was proposed earlier based on human movements studies [1-3].

Financial support: Grant RFBR 12-04-01718-a
[1] Alexandrov AV, Frolov AA, Massion J (2001) Biomechanical analysis of movement strategies in human forward trunk bending. Biol Cybern 84:425-443

[2] Alexandrov AV, Frolov AA, Horak FB, Carlson-Kuhta P, Park S (2005) Feedback equilibrium control during human standing. Biol Cybern 93:309–322

[3] Alexandrov AV, Frolov AA. (2011) Closed-loop and open-loop control of posture and movement during human upper trunk bending. Biol Cybern, 104(6): 425 - 438


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