Generation and control of locomotion patterns for biped robots by using central pattern generators
Entity
UAM. Departamento de Tecnología Electrónica y de las ComunicacionesPublisher
Universidad de AlicanteDate
2017-01-01Citation
10.14198/JoPha.2017.8.1.06
Journal of Physical Agents 8. 1 (2017): 40-47
ISSN
1888-0258DOI
10.14198/JoPha.2017.8.1.06Editor's Version
http://doi.org/10.14198/JoPha.2017.8.1.06Subjects
Adaptive control; Biologically inspired control; Central pattern generators; CPGs; Matsuoka's oscillator; TelecomunicacionesEsta obra está bajo una licencia de Creative Commons Reconocimiento-CompartirIgual 4.0 Internacional.
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.
Files in this item
Google Scholar:Cristiano, Julián
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Puig, Domènec
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García García, Miguel Ángel
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