2012 Fiscal Year Final Research Report
Understanding of the human motion as dynamics morphing system and laying of the base of next-generation humanoid robot control
| Project/Area Number |
22680018
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2012
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| Keywords | 運動制御 / 非線形力学系 / ロボティクス / 身体科学 |
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| Research Abstract |
A framework to understand the mathematical principle of the human motor control as a dynamics-morphingsystem comprising the body, the environment and the controller was proposed. It is based on a control technique for humanoid robots to articulate the whole body under complex constraints, keep the stability and achieve a variety of motions. It was found that the controller which was developed for a humanoid robot in order to unify standing, stepping and walking nicely models that of a human through motion measurements and identifications of control parameters.
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