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ROBOT2013: First Iberian Robotics Conference pp 603–618Cite as

High Level Humanoid Postural Control Architecture with Human Inspiration

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 252))

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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Author information

Authors and Affiliations

  1. Systems Engineering and Automation Department, Carlos III University of Madrid, Leganés, Madrid, Spain

    Santiago Martinez, Alberto Jardón & Carlos Balaguer

Authors
  1. Santiago Martinez
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  2. Alberto Jardón
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  3. Carlos Balaguer
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Corresponding author

Correspondence to Santiago Martinez .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, State Agency National Research Council (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. University Technical of Catalonia (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. University Polytechnic of Madrid (UPM), Madrid, Spain

    Manuel Ferre

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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

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03412-6

  • Online ISBN: 978-3-319-03413-3

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