Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/73229
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dc.titleBipedal locomotion control using a four-compartmental central pattern generator
dc.contributor.authorFeng, K.
dc.contributor.authorChew, C.-M.
dc.contributor.authorHong, G.-S.
dc.contributor.authorZielinska, T.
dc.date.accessioned2014-06-19T05:32:40Z
dc.date.available2014-06-19T05:32:40Z
dc.date.issued2005
dc.identifier.citationFeng, 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.
dc.identifier.isbn0780390458
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73229
dc.description.abstractIn 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.
dc.sourceScopus
dc.subjectBipedal locomotion
dc.subjectCentral Pattern Generator
dc.subjectLimit cycle
dc.subjectNeural oscillator
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.sourcetitleIEEE International Conference on Mechatronics and Automation, ICMA 2005
dc.description.page1515-1520
dc.identifier.isiutNOT_IN_WOS
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