Paper Info
Title
Three Dimensional Bipedal Stepping Motion Using Neural Oscillators - Towards Humanoid Motion In The Real World
Abstract
CPG (central pattern generator) and entrainment dynamics together form a promising framework for robust and adaptive behavior generation for a high degree of freedom system in unstructured environment. This paper investigates its possibility in the domain of biped robotic locomotion. We extend a previous work on 2D biped locomotion using neural oscillators to SD, introducing many more degrees of freedom and complexity in control. While the complexity of the problem has been increased, we have simplified the internal neural mechanism compared to the original 2D work. Our fully dynamic 3D simulation experiments showed that our mechanism can generate 3D stable biped stepping motion as well as tolerance against external perturbations.
Year
DOI
Venue
1998
10.1109/IROS.1998.724601
IROS
Keywords
Field
DocType
robust control,adaptive behavior,oscillators,adaptive control,three dimensional,robot kinematics,humanoid robots,cpg,degree of freedom,central pattern generator,intelligent systems,robustness
Degrees of freedom (statistics),Computer science,Control theory,Robot kinematics,Control engineering,Robustness (computer science),Adaptive control,Central pattern generator,Robust control,Adaptive behavior,Humanoid robot
Conference
Citations 
PageRank 
References 
47
6.35
8
Authors
4
Name
Order
Citations
PageRank
Seiichi Miyakoshi1476.35
Gentaro Taga234241.30
Yasuo Kuniyoshi32481362.58
Akihiko Nagakubo437344.13