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Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz

Faculty of Engineering and Information Sciences - Papers: Part B

We present a novel method of guiding a humanoid robot, including stepping, by allowing a user to move its head. The motivation behind this approach comes from research in the field of human neuroscience. In human locomotion it has been found that the head plays a very important role in guiding and planning motion. We use this idea to generate humanoid whole-body motion derived purely as a result of moving the head joint. The input to move the head joint is provided by a user via a 6D mouse. The algorithm presented in this study judges when further head movement …