Walking Pattern Generator Using an Evolutionary Central Pattern Generator
نویسندگان
چکیده
For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central Pattern Generator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evolutionary algorithm is employed. Walking pattern generator is developed to generate trajectories of ankles and hip using CPG. The effectiveness of the proposed scheme is demonstrated by simulations and real experiments using a Webot dynamic simulator and a small sized humanoid robot, HSR-IX.
منابع مشابه
Stable Modifiable Walking Pattern Algorithm with Constrained Optimized Central Pattern Generator
In this paper, stable modifiable walking pattern algorithm is proposed using evolutionary optimized central pattern generator (CPG). Sensory feedback pathways in CPG are proposed, which use force sensing resistor (FSR) signals. For the optimization of CPG parameters, two-phase evolutionary programming (TPEP) is employed. Modifiable walking pattern generator (MWPG) generates position trajectory ...
متن کاملStable Modifiable Walking Pattern Generator with a Vertical Foot Motion by Evolutionary Optimized Central Pattern Generator
This paper proposes a stable modifiable walking pattern generator with a vertical foot motion generated by a central pattern generator that is obtained from the evolutionary constrained optimization. A modifiable walking pattern generator is employed which generates sagittal and lateral position trajectories of center of mass of humanoid robot and a CPG generates the vertical foot trajectory of...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کاملEvolution of central pattern generators for bipedal walking in a real-time physics environment
We describe an evolutionary approach to the control problem of bipedal walking. Using a full rigid-body simulation of a biped, it was possible to evolve recurrent neural networks that controlled stable straight-line walking on a planar surface. No proprioceptive information was necessary to achieve this task. Furthermore, simple sensory input to locate a sound source was integrated to achieve d...
متن کاملUsing the Adaptive Frequency Nonlinear Oscillator for Earning an Energy Efficient Motion Pattern in a Leg- Like Stretchable Pendulum by Exploiting the Resonant Mode
In this paper we investigate a biological framework to generate and adapt a motion pattern so that can be energy efficient. In fact, the motion pattern in legged animals and human emerges among interaction between a central pattern generator neural network called CPG and the musculoskeletal system. Here, we model this neuro - musculoskeletal system by means of a leg - like mechanical system cal...
متن کامل