Sensorimotor Control of Biped Locomotion
نویسنده
چکیده
Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers based on direct sensorimotor reflexes have not been given much attention, as they have probably been considered too simple for the task of controlling a biped. In this paper, however, we present results to the contrary. It is shown that a purely sensorimotor neural network, that is one with direct connections between sensors and motors can produce gait in an eight degree-of-freedom simulated lower body biped. Further analysis indicates that proprioceptive information is useful but not essential for the control of walking, while cutaneous information is essential. The final experiments show that sensorimotor control of biped walking can be accomplished using a network with only two cutaneous inputs and four neurons. The results suggest that reflexes may play a large role in rhythm generation, in addition to central pattern generators. The results also demonstrate the importance of sensorimotor reflexes in adaptive behavior.
منابع مشابه
Biped Locomotion: Stability, Analysis and Control
In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...
متن کاملRobust Biped Walking with Active Interaction Control between Foot and Ground
This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic programming. The proposed approach realizes the...
متن کاملControlling Human-like Locomotion of a Biped by a Biologically Motivated Approach
Controlling biped robots in a human-like way is still in the air in robotics. Due to the existing of shortcomings of technical control methods, researchers began to try to find help from biomechanics, neuroscience, human movement analysis and other biological fields. This paper presents a biologically inspired method of controlling the locomotion of biped robots based on the neurological and bi...
متن کاملImpedance control and modulation for stable footing in locomotion of biped robots
This paper proposes an impedance control method with impedance modulation strategy for biped robot locomotion. Both the constrained leg and the free leg are controlled by impedance control. The impedance parameters changes depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, the damping coeffici...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Adaptive Behaviour
دوره 13 شماره
صفحات -
تاریخ انتشار 2005