An Improved ZMP-Based CPG Model of Bipedal Robot Walking Searched by SaDE

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Bipedal Walking of an Octopus-Inspired Robot

In this paper a model is presented which describes an octopusinspired robot capable of two kinds of locomotion: crawling and bipedal walking. Focus will be placed on the latter type of locomotion to demonstrate, through model simulations and experimental trials, that the robot’s speed increases by about 3 times compared to crawling. This finding is coherent with the performances of the biologic...

متن کامل

An Improved ZMP-based CPG Model Considering Pitch and Roll Inclinations

This paper aims to provide an improved ZMP-based CPG model considering pitch and roll inclination. The proposed CPG model is optimized by Self-adaptive Differential Evolutionary Algorithm (SaDE). Simulation results are presented and the effectiveness of the CPG model is shown in snapshot of experiments.

متن کامل

Real-time Walking Pattern Generation for a Biped Robot with a Hybrid CPG-ZMP Algorithm

Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG) can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point ...

متن کامل

Adaptive Virtual Model Control of a Bipedal Walking Robot

The robustness of bipedal walking robots can be enhanced by the use of adaptive control techniques. In this paper, we extend a previous control approach, “Virtual Model Control” (VMC) [6] to create “Adaptive Virtual Model Control” (AVMC). The adaptation compensates for external disturbances and unmodelled dynamics, enhancing robustness in the control of height, pitch, and forward speed. The sta...

متن کامل

Virtual model control of a bipedal walking robot

The transformation from high level task speci cation to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This paper describes a control scheme called Virtual Model Control that addresses this issue. Virtual Model Control is a motion control language that uses simulations of imagined mechanical components to create forces, which are applied through r...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: ISRN Robotics

سال: 2014

ISSN: 2090-8806

DOI: 10.1155/2014/241767