2024
DOI: 10.3390/biomimetics9040219
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Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

Jorge Muñoz,
Raúl de Santos-Rico,
Lisbeth Mena
et al.

Abstract: In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid’s head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies obse… Show more

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