Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots

Farkhatdinov, Ildar; Michalska, H.; Berthoz, Alain; Hayward, Vincent

doi:10.1007/978-3-319-93870-7_9

Cited by 6 publications

(3 citation statements)

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“…Head stabilization behavior, which is universally observed in humans and animals, is directly related to the functions of the vestibular system alluded earlier [3]. In humans, experimental studies have shown that the head is stabilized during the performance of different locomoting, balancing, and other postural tasks [4,5].…”

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confidence: 86%

Idiothetic Verticality Estimation Through Head Stabilization Strategy

Farkhatdinov

Michalska

Berthoz

et al. 2019

IEEE Robot. Autom. Lett.

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The knowledge of the gravitational vertical is fundamental for the autonomous control of humanoids and other freemoving robotic systems such as rovers and drones. This article deals with the hypothesis that the so-called 'head stabilization strategy' observed in humans and animals facilitates the estimation of the true vertical from inertial sensing only. This problem is difficult because inertial measurements respond to a combination of gravity and fictitious forces that are hard to disentangle. From simulations and experiments, we found that the angular stabilization of a platform bearing inertial sensors enables the application of the separation principle. This principle, which permits one to design estimators and controllers independently from each other, typically applies to linear systems, but rarely to nonlinear systems. We found empirically that, given inertial measurements, the angular regulation of a platform results in a system that is stable and robust and which provides true vertical estimates as a byproduct of the feedback. We conclude that angularly stabilized inertial measurement platforms could liberate robots from ground-based measurements for postural control, locomotion, and other functions, leading to a true idiothetic sensing modality, that is, not based on any external reference but the gravity field. Index Terms-Biologically-Inspired Robots; Biomimetics; Sensor-based Control I. INTRODUCTION F OR humans, as for other living creatures, it is substantial to know the spatial orientation of our body with respect to the external world. Most of our sensory systems can contribute to this task. Interestingly, visual, auditory, tactile, proprioceptive, or olfactory sensory inputs can be easily put out of action, but the vestibular inputs are always available, even in the absence of gravity [1]. In artificial systems, robots in particular, inertial measurement units (IMUs) often play the role of a 'robotic vestibular system'. These IMUs sense the movements of the robot and provide its control system Manuscript

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confidence: 86%

Idiothetic Verticality Estimation Through Head Stabilization Strategy

Farkhatdinov

Michalska

Berthoz

et al. 2019

IEEE Robot. Autom. Lett.

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“…Vestibulo-Ocular Reflex (VOR) is the reflex responsible for keeping the gaze stabilized at the current gaze point in space, whereas Optokinetic Reflex (OKR) is the reflex responsible for keeping the gaze on track with the target [1]. Many researches have developed gazing techniques based on HVS to make the robot exhibit a gazing behavior similar to human gaze behavior [2]. It should be noted that gaze control, generally, includes image capturing, image processing, and system control [3].…”

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confidence: 99%

“…Moreover, the visual stimulus has been analyzed during a car drive to develop a model based on VOR and OKR [22]. Discussion of researches on the topic that address used models, problems and solutions, designs of robots, control methods, and system behavior can be seen in comprehensive reviews, such as [2] and [23].…”

Section: Introductionmentioning

confidence: 99%

A Novel Algebraic Inverse Kinematics Based Approach to Gaze Control in Humanoid Robots

Alshakhs,

Mysorewala,

Saif

et al. 2023

IEEE Access

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The vision system of humanoid robots is one of the essential components that allow them to do complex activities. This has led to numerous studies on artificial gaze stabilization, many of which are based on biological vision system reflexes. The gaze stabilization solution includes image capture and processing, inverse kinematics, and feedback control to achieve the desired gaze behavior. Generally, the multi-solution problem of finding the desired gaze direction and the inverse kinematics problem of finding the desired joints are solved by using cost functions and numerical solvers. This results in disadvantages that include long processing time, uncertain number of iterations, and risk of numerical instability. In this work, an alternative algebraic method is introduced by exploiting the cascading structure of the neck and eye. By using direct equations instead of numerical solving, the multi-solution and inverse kinematics problems are solved utilizing the geometrical structure and the proposed virtual configurations. Moreover, a sliding mode controller is designed to move the neck-eye joints to their desired positions. The developed scheme is simulated in the MATLAB/SIMULINK environment. Results for various scenarios show that the system can effectively gaze at different stationary and moving targets, showing human-like gaze behavior. In terms of timing, the desired gaze direction is quickly achieved and stabilized, whereas the neck-eye system dynamics stay longer. For one of the simulation cases presented, it took 0.3 seconds to achieve the desired gaze direction for the dynamics of more than 1 second.INDEX TERMS Degrees of freedom (DOF), face direction, gaze control, gaze stabilization, humanoid, iCub, inverse kinematics (IK), numerical solution, vestibulo-ocular reflex (VOR).

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