Generation and control of locomotion patterns for biped robots by using central pattern generators
نویسندگان
چکیده
منابع مشابه
Locomotion in Modular Robots based on Central Pattern Generators
We address the problem of learning to locomote in modular robotic systems, i.e. systems made from multiple homogenous or heterogenous and highly autonomous modules being assembled into a bigger robotic structure, other than monolithic robots (such as humanoid robot systems or predefined quadruped robots). We are particulary interested in online learning of robust and adaptive locomotion for arb...
متن کاملCentral pattern generators for locomotion control in animals and robots: A review
The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, low-dimensional, input signals. The review will firs...
متن کاملCentral pattern generators for bipedal locomotion.
Golubitsky, Stewart, Buono and Collins proposed two models for the achitecture of central pattern generators (CPGs): one for bipeds (which we call leg) and one for quadrupeds (which we call quad). In this paper we use symmetry techniques to classify the possible spatiotemporal symmetries of periodic solutions that can exist in leg (there are 10 nontrivial types) and we explore the possibility t...
متن کاملAutomatic locomotion pattern generation for modular robots
Locomotion, one of the most basic robotic functions, has been widely studied for several types of robots. As for self-reconfigurable modular robots, there are two types of locomotion; one type is realized as a series of self-reconfiguration and the other is realized as a whole body motion such as walking and crawling. Even for the latter type of locomotion, designing control method is more diff...
متن کاملDesign methodologies for Central Pattern Generators: Toward “intelligent” locomotion in robots
Introduction The control of locomotion in legged robot and especially in humanoid robots is the first step to embodied cognition and intelligence. This is the step that allows the robot to interact and to discover its environment. However, it is not straightforward how to design good controllers so that the robot can move in unpredictable environment. Unlike animals, robots are not really able ...
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ژورنال
عنوان ژورنال: Journal of Physical Agents (JoPha)
سال: 2017
ISSN: 1888-0258
DOI: 10.14198/jopha.2017.8.1.06