Generation and control of locomotion patterns for biped robots by using central pattern generators
Please use this identifier to cite or link to this item:
http://hdl.handle.net/10045/67920
Title: | Generation and control of locomotion patterns for biped robots by using central pattern generators |
---|---|
Authors: | Cristiano, Julián | Puig, Domènec | García, Miguel Angel |
Keywords: | Adaptive control | Biologically inspired control | Central pattern generators | CPGs | Matsuoka’s oscillator |
Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
Issue Date: | Jul-2017 |
Publisher: | Red de Agentes Físicos |
Citation: | Journal of Physical Agents. 2017, 8(1): 40-47. doi:10.14198/JoPha.2017.8.1.06 |
Abstract: | This paper presents an efficient closed-loop locomotion control system for biped robots that operates in the joint space. The robot’s joints are directly driven through control signals generated by a central pattern generator (CPG) network. A genetic algorithm is applied in order to find out an optimal combination of internal parameters of the CPG given a desired walking speed in straight line. Feedback signals generated by the robot’s inertial and force sensors are directly fed into the CPG in order to automatically adjust the locomotion pattern over uneven terrain and to deal with external perturbations in real time. Omnidirectional motion is achieved by controlling the pelvis motion. The performance of the proposed control system has been assessed through simulation experiments on a NAO humanoid robot. |
URI: | http://dx.doi.org/10.14198/JoPha.2017.8.1.06 | http://hdl.handle.net/10045/67920 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2017.8.1.06 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Rights: | Creative Commons License Attribution-ShareAlike 4.0 |
Peer Review: | si |
Publisher version: | http://www.jopha.ua.es/ |
Appears in Collections: | Journal of Physical Agents - 2017, Vol. 8, No. 1 |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
JoPhA_08_01_06.pdf | 553,13 kB | Adobe PDF | Open Preview | |
This item is licensed under a Creative Commons License