Name
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/978-3-642-33932-5_45 | INTELLIGENT AUTONOMOUS SYSTEMS 12 , VOL 2 |
Keywords | Field | DocType |
bipedal locomotion,inter- and intra-limb coordination,discrepancy | Bipedalism,Control theory,Angular velocity,Gait,Control theory,Robot locomotion,Control system,Engineering,Central pattern generator,Robot | Conference |
Volume | ISSN | Citations |
194 | 2194-5357 | 3 |
PageRank | References | Authors |
0.39 | 5 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dai Owaki | 1 | 31 | 9.53 |
| Takeshi Kano | 2 | 38 | 16.50 |
| Atsushi Tero | 3 | 70 | 7.83 |
| Masakazu Akiyama | 4 | 5 | 1.12 |
| Akio Ishiguro | 5 | 321 | 60.94 |