Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion

Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyama, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a "minimalist" bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PublisherSpringer Verlag
Pages493-502
Number of pages10
EditionVOL. 2
ISBN (Print)9783642339318
DOIs
Publication statusPublished - Jan 1 2013
Event12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
Duration: Jun 26 2012Jun 29 2012

Publication series

NameAdvances in Intelligent Systems and Computing
NumberVOL. 2
Volume194 AISC
ISSN (Print)2194-5357

Other

Other12th International Conference on Intelligent Autonomous Systems, IAS 2012
CountryKorea, Republic of
CityJeju Island
Period6/26/126/29/12

Fingerprint

Robots
Sensory feedback
Angular velocity
Control systems
Controllers

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Owaki, D., Kano, T., Tero, A., Akiyama, M., & Ishiguro, A. (2013). Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012 (VOL. 2 ed., pp. 493-502). (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2). Springer Verlag. https://doi.org/10.1007/978-3-642-33932-5_45

Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. / Owaki, Dai; Kano, Takeshi; Tero, Atsushi; Akiyama, Masakazu; Ishiguro, Akio.

Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2. ed. Springer Verlag, 2013. p. 493-502 (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Owaki, D, Kano, T, Tero, A, Akiyama, M & Ishiguro, A 2013, Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. in Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2 edn, Advances in Intelligent Systems and Computing, no. VOL. 2, vol. 194 AISC, Springer Verlag, pp. 493-502, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Republic of, 6/26/12. https://doi.org/10.1007/978-3-642-33932-5_45
Owaki D, Kano T, Tero A, Akiyama M, Ishiguro A. Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2 ed. Springer Verlag. 2013. p. 493-502. (Advances in Intelligent Systems and Computing; VOL. 2). https://doi.org/10.1007/978-3-642-33932-5_45
Owaki, Dai ; Kano, Takeshi ; Tero, Atsushi ; Akiyama, Masakazu ; Ishiguro, Akio. / Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2. ed. Springer Verlag, 2013. pp. 493-502 (Advances in Intelligent Systems and Computing; VOL. 2).
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