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|Title:||Coordination in CPG and its application on bipedal walking|
|Source:||Huang, W.,Chew, C.-M.,Hong, G.-S. (2008). Coordination in CPG and its application on bipedal walking. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 : 450-455. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2008.4681412|
|Abstract:||Research of bipedal walking has been motivated by its great flexible in rough terrain walking, as well as its benefits to prosthesis development. This paper aims to achieve coordination of central pattern generator (CPG) and asymptotically stable walking behavior. CPG is always referred as several oscillators with coupled mutual inhibition. In this paper, the oscillator model proposed by Matsuoka was used. We use output difference between two oscillators as the feedback to adjust the output of the target oscillator. Further exploration achieves to coordinate multiple oscillators with different frequencies. To verify the method, we demonstrate a 3D robust walking controlled by a simple CPG structure with several oscillators. © 2008 IEEE.|
|Source Title:||2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008|
|Appears in Collections:||Staff Publications|
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