Please use this identifier to cite or link to this item:
|Title:||Bipedal locomotion control using a four-compartmental central pattern generator||Authors:||Feng, K.
Central Pattern Generator
|Issue Date:||2005||Citation:||Feng, K.,Chew, C.-M.,Hong, G.-S.,Zielinska, T. (2005). Bipedal locomotion control using a four-compartmental central pattern generator. IEEE International Conference on Mechatronics and Automation, ICMA 2005 : 1515-1520. ScholarBank@NUS Repository.||Abstract:||In this paper, we develop a simple bipedal loco motion algorithm based on biological concepts. The algorithm utilized a Central Pattern Generator (CPG) composed of four coupled neural oscillators (NO) to generate control signal for the bipedal robot. Feedbacks from the robot dynamics and the environment are used to update the CPG online. Our algorithm is then tested on a seven link model of bipedal robot. Simulation results suggest the proposed CPG can generate a smooth and continuous walking pattern for the robot. © 2005 IEEE.||Source Title:||IEEE International Conference on Mechatronics and Automation, ICMA 2005||URI:||http://scholarbank.nus.edu.sg/handle/10635/73229||ISBN:||0780390458|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 1, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.