The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for\r\ncoordinating the redundant degrees of freedom of a humanoid robot during whole-body reachingmovements in bipedal standing.\r\nThe analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the\r\ndanger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub\r\nhumanoid robot.
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