ICRA'09 Paper Abstract


Paper FrC6.2

Marcinkiewicz, Marek (The City University of New York), Kaushik, Ravi (The City University of New York), Labutov, Igor (The City College of New York), Parsons, Simon (City university of New York (Brooklyn College, Graduate Center)), Raphan, Theodore (City university of New York (Brooklyn College, Graduate)

Learning to Stabilize the Head of a Quadrupedal Robot With an Artificial Vestibular System

Scheduled for presentation during the Regular Sessions "Learning and Adaptive Systems - III" (FrC6), Friday, May 15, 2009, 13:50−14:10, Room: 404

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Learning and Adaptive Systems, Legged Robots and Humanoid Locomotion, Biologically-Inspired Robots


During quadrupedal robot locomotion, there is pitch, yaw, and roll of the head and body due to the stepping. The head motion adversely affects visual sensors embedded in the robotís head. Mammals stabilize the head using a vestibulo-collic reflex that detects linear and rotational acceleration. In this paper we describe the use of a machine learning algorithm that utilizes signals from an artificial vestibular system that has been embedded in the robotís head. Our approach can rapidly learn to compensate for the head movements that appear when no stabilization mechanism is present. The stabilization using a Sony Aibo robot occurs in only a few gait cycles.



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