Please use this identifier to cite or link to this item:
|Title:||Bio-inspired locomotion control with coordination between neural oscillators|
|Keywords:||Biological inspired approach|
Central pattern generator
|Citation:||Huang, W., Chew, C.-M., Zheng, Y., Hong, G.-S. (2009-12). Bio-inspired locomotion control with coordination between neural oscillators. International Journal of Humanoid Robotics 6 (4) : 585-608. ScholarBank@NUS Repository. https://doi.org/10.1142/S0219843609001929|
|Abstract:||Central Pattern Generator (CPG) is used in bipedal locomotion control to provide the basic rhythm signal for actuators. Generally, the CPG is composed of many neural oscillators coupled together. In this paper, the coordination between neural oscillators in CPG is studied to achieve robust rhythm motions. By using the entrainment property of the neural oscillator, we develop a method which uses the difference between oscillator's output and desired output to adjust the inner states of neural oscillators. In the simulation, a CPG structure with coordination between neural oscillators is used to control a 2D bipedal robot. The robot can walk continuously when several external forces are applied on the robot during walking. The method is also implemented on our humanoid robot NUSBIP-III ASLAN for the test of walking forward. With the coordination between neural oscillators, the CPG generated rhythmic and robust control signals which enable the robot to walk forward stably. © 2009 World Scientific Publishing Company.|
|Source Title:||International Journal of Humanoid Robotics|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Sep 21, 2018
WEB OF SCIENCETM
checked on Sep 11, 2018
checked on Sep 14, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.