Paper Info
Title
Robust control of a humanoid robot using a bio-inspired approach based on central pattern generators, reflexes, and proprioceptive feedback
Abstract
This paper presents a biologically inspired control approach for the locomotion of humanoid robots based on a central pattern generator concept with additional balancing behavior which was tested on BIN-HUR, a modified Kondo KHR-1 robot equipped with a custom-made micro-controller board. The software concept is built up on a new behavior-based microkernel named Monster.
Year
DOI
Venue
2006
10.1109/ROBIO.2006.340174
Kunming
Keywords
Field
DocType
feedback,humanoid robots,legged locomotion,robust control,bio-inspired approach,central pattern generator,humanoid robot locomotion,proprioceptive feedback,robust control
Robot control,Control theory,Microkernel,Control engineering,Software,Engineering,Central pattern generator,Robot,Robust control,Mobile robot,Humanoid robot
Conference
ISBN
Citations 
PageRank 
1-4244-0571-8
1
0.36
References 
Authors
2
2
Name
Order
Citations
PageRank
Sebastian Bartsch1496.42
Frank Kirchner211519.41