Name
Abstract | ||
|---|---|---|
This paper proposes a method for enhancing the robustness of the central pattern generator (CPG)-based three-dimensional (3D) neuromusculoskeletal walking controller. The CPG has been successfully applied to walking controllers and controllers for walking robots. However, the robustness of walking motion with the CPG-based controller is not sufficient, especially when subjected to external forces or environmental variations. To achieve a realistic and stable walking motion of the controller, we propose the use of an attracting controller in parallel with the CPG-based controller. The robustness of the proposed controller is confirmed through simulation results. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/s00422-011-0464-4 | Biological Cybernetics |
Keywords | Field | DocType |
3D walking simulator,CPG,Walking model,Robust control | Control theory,Control theory,CpG site,Control engineering,Robustness (computer science),Robot,Robust control,Central pattern generator,Mathematics | Journal |
Volume | Issue | ISSN |
105 | 3-4 | 1432-0770 |
Citations | PageRank | References |
12 | 0.77 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Youngwoo Kim | 1 | 19 | 3.90 |
| Yusuke Tagawa | 2 | 12 | 1.11 |
| Goro Obinata | 3 | 40 | 12.81 |
| Kazunori Hase | 4 | 53 | 9.46 |