Name
Title | ||
|---|---|---|
Generation of an adaptive controller CPG for a quadruped robot with neuromodulation mechanism |
Abstract | ||
|---|---|---|
In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generators (CPG). In contrast to these approaches in which monolithic CPG circuits are employed to control locomotion, in this study a polymorphic neural circuit is employed instead, allowing the dynamic change of its properties according to the current situation in real time. To this end, the concept of neuromodulation has been introduced. To verify the feasibility of this approach, this concept has been applied to the control of a 3-D quadruped robot. Simulations have been carried out and the results have showed that the proposed method appropriately changes the walking pattern according to the current situation in real time. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/IRDS.2002.1041665 | Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference |
Keywords | Field | DocType |
adaptive control,legged locomotion,neurocontrollers,Central Pattern Generators,agile locomotion,legged robots,neural circuits,neuromodulation,polymorphic neural circuit,quadruped robot,walking pattern | Robot control,Control theory,Control theory,Computer science,Control engineering,Robot locomotion,Adaptive control,Central pattern generator,Robot,Biological neural network,Electronic circuit | Conference |
Volume | Citations | PageRank |
3 | 8 | 0.77 |
References | Authors | |
5 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fujii, A. | 1 | 8 | 0.77 |
| Saito, N. | 2 | 8 | 0.77 |
| Nakahira, K. | 3 | 14 | 1.24 |
| Ishiguro, A. | 4 | 15 | 1.51 |