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

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

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