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A New Approach for Body Balance of a Humanoid Robot

A New Approach for Body Balance of a Humanoid Robot

Ory Medina, Daniel Madrigal, Félix Ramos, Gustavo Torres, Marco Ramos
Copyright: © 2014 |Volume: 6 |Issue: 4 |Pages: 14
ISSN: 1942-9045|EISSN: 1942-9037|EISBN13: 9781466656833|DOI: 10.4018/IJSSCI.2014100103
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MLA

Medina, Ory, et al. "A New Approach for Body Balance of a Humanoid Robot." IJSSCI vol.6, no.4 2014: pp.33-46. http://doi.org/10.4018/IJSSCI.2014100103

APA

Medina, O., Madrigal, D., Ramos, F., Torres, G., & Ramos, M. (2014). A New Approach for Body Balance of a Humanoid Robot. International Journal of Software Science and Computational Intelligence (IJSSCI), 6(4), 33-46. http://doi.org/10.4018/IJSSCI.2014100103

Chicago

Medina, Ory, et al. "A New Approach for Body Balance of a Humanoid Robot," International Journal of Software Science and Computational Intelligence (IJSSCI) 6, no.4: 33-46. http://doi.org/10.4018/IJSSCI.2014100103

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Abstract

In humans, the vestibular system along with other sensory and motor systems is responsible for three cognitive functions that support mobility. First, is responsible for the balance of the body. Second, it allows humans to maintain the head stabilized. Finally, whenever the body or head are in motion, it maintains the visual gaze on a desired target. These tasks are performed using an array of sensors that are located within the inner ear. This paper describes the design and implementation of a synthetic model of the human vestibular system. The model is based on neurophysiological evidence, which makes it necessary to model all of the neural and physical components involved in the balance of the body. The model includes a component for each of the sensors, cortical and subcortical neural structures. It also defines and generates the necessary motor output signals. The proposed model was connected to a Bioloid® Premium humanoid robot to simulate the motor output and the proprioceptive inputs. The physical tests resulted inconclusive due to the fact that the controller on the robot was incapable of handling the necessary information for the tests. However, even though the results were not the desired, the communication between the sensors and the architecture, as well as the processing inside the architecture satisfied all of the authors' expectations.

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