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https://scholarbank.nus.edu.sg/handle/10635/73229
| Title: | Bipedal locomotion control using a four-compartmental central pattern generator | Authors: | Feng, K. Chew, C.-M. Hong, G.-S. Zielinska, T. |
Keywords: | Bipedal locomotion Central Pattern Generator Limit cycle Neural oscillator |
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 |
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