One of the key elements of human motor behavior is the postural control system responsible for the orientation of body in space.The postural control consists on a complex motor task with interaction of sensorimotor processes that integrates the information from multiple sensors such as visual, vestibular and proprioceptive.

 

The main functional objectives of postural behavior are the active alignment of the trunk and the head in relation to gravity, surface support, visual environment and internal references. Nevertheless, the maintenance of a stable posture has been essentially associated, on robotics point of view, with the control of COP (center of pressure) on feets and a reduced use of vestibular signals or vision.

 

This dissertation aim to study the role of visual information in humanoid robot's balance on orthostatic position, assuming the existence of fixed features on the scene. This dissertation also aim implement a postural control algorithm to the same robot liable to surfer external disturbances applied on its support surface.

 

The work will be developed in the automation and robotics laboratory (LAR) at University of Aveiro, to complete the master's in industrial automation engineering.

 

Scientific Advisors:

Filipe Silva (DETI-IEETA, fmsilva@ua.pt)

Vítor Santos (DEM-IEETA, vitor@ua.pt)