Science Robotics

Supplementary Materials

Supplementary Material for:

A whole-body support pose taxonomy for multi-contact humanoid robot motions

Jülia Borràs,* Christian Mandery, Tamim Asfour

*Corresponding author. Email: julia.borrassol{at}

Published 20 December 2017, Sci. Robot. 2, eaaq0560 (2017)
DOI: 10.1126/scirobotics.aaq0560

This PDF file includes:

  • Supplementary Text
  • Fig. S1. Types of possible support contacts of the body with the environment.
  • Fig. S2. Transition graph of whole-body pose transitions automatically generated from the analyzed motions.
  • Fig. S3. Bar charts showing the displacement of the participant center of mass associated to every detected support pose.
  • Fig. S4. Bar charts showing the CoM displacements associated to all detected support poses during all the motions using stairs with handrail.
  • Fig. S5. Confusion matrices that show the similarity between support pose sequences of all the motions, using the word error rate in eq. S2.
  • Fig. S6. Confusion matrices that show the similarity between support pose sequences where the pairs of support poses listed in the two rows of table S1 are considered the same.
  • Fig. S7. Timeline of pose transitions for a kneeling down motion with left hand support.
  • Fig. S8. Just before knee contact, the configuration of the support pose changes significantly.
  • Fig. S9. Setup used for motion capture, corresponding to a motion with supports with both hands walking on a beam.
  • Table S1. Walking with one support transition clusters.
  • Table S2. Description of the analyzed motions.
  • Table S3. Description of subjects.
  • References (1123)

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