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Journal of Robotics
Volume 2013 (2013), Article ID 126570, 8 pages
Research Article

Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

1RBCS Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, Italy
2DIBRIS Department, University of Genoa, Viale Causa, 13 16145 Genoa, Italy

Received 24 December 2012; Revised 21 March 2013; Accepted 22 March 2013

Academic Editor: G. Muscato

Copyright © 2013 Jacopo Zenzeri et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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