Bioinspired balance of HUMAnoid robots for TRANsport tasks (HUMATRAN) Projects uri icon


  • European Research Project


  • GA-779963/Subproject HUMATRAN

date/time interval

  • February 16, 2021 - June 30, 2022


  • The introduction of humanoid robots into real-life environments depends on a robust and safe
    operation. One of the main characteristics defining a humanoid robot, as the human case, is its
    ability to maintain an upright bipedal stance. It is a key factor to perform manipulation tasks in real
    environments. This proposal aims to implement and improve different bioinspired balance
    strategies and controllers, while the humanoid robot performs a particular manipulation task. The
    behaviour proposed consists of transport an object without grasping it, similar to a human waiter
    transporting objects on a tray. During the execution of this behaviour, a double balancing task must
    be performed. The robot must keep its own equilibrium meanwhile keeping the items on the tray,
    that is, preserving its stability and its condition. Thanks to the capacities of Eurobench testbeds, it
    will be possible to evaluate robot performance in a wide variety of situations that could occur in the
    real world. This question constitutes an advantage in the development of balance controllers using
    bioinspired techniques, such as Neural Networks, Fuzzy systems, etc. The data from experiments
    is applied in a behaviour learning process. The richer is the information used in this process, the
    better the controller performance will be. The experiments will be carried out with the humanoid
    robot REEM-C, and the results will also be compared with the data obtained with the humanoid
    robot TEO from the RoboticsLab research group. The possibility of comparing Eurobench proposal
    results with those obtained in RoboticsLab laboratory will enrich the outcomes.