Name
Title | ||
|---|---|---|
An environmental adaptation mechanism for a biped walking robot control based on elicitation of sensorimotor constraints |
Abstract | ||
|---|---|---|
This paper proposes an environmental adaptation mechanism for a biped walking robot control on up/down slopes In order to cope with a variety of environments, the proposed locomotion control system has dual adaptation loops The first adaptation loop is a phase entrainment attribute of coupled nonlinear oscillators that directly encode the locomotion cycle, and it corresponds to a kind of feedback adaptation against perturbative changes In contrast, the second one is elicitation of sensorimotor constraints, that is kinematic parameters constrain limbs trajectories (e.g length of stride) according to the environmental state Thus it can be considered as a kind of feedforward adaptation In this paper, the validity of the proposed adaptation mechanisms can be evaluated through a physical simulations of a biped walking robot. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1007/11840541_15 | SAB |
Keywords | Field | DocType |
environmental state,sensorimotor constraint,proposed adaptation mechanism,dual adaptation loop,robot control,feedforward adaptation,environmental adaptation mechanism,locomotion cycle,feedback adaptation,adaptation loop,proposed locomotion control system,control system | Robot control,Kinematics,STRIDE,Computer science,Control theory,Control system,Central pattern generator,Robot,Trajectory,Feed forward | Conference |
Volume | ISSN | ISBN |
4095 | 0302-9743 | 3-540-38608-4 |
Citations | PageRank | References |
3 | 0.49 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shunsuke Iida | 1 | 3 | 0.49 |
| Toshiyuki Kondo | 2 | 131 | 28.57 |
| Koji Ito | 3 | 24 | 7.23 |