Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 43, Issue 5, Pages 1206-1215Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2012.2235426
Keywords
Adaptive walking; biped robot; central pattern generator (CPG); trajectory generator
Funding
- National Natural Science Foundation of China [61203344]
- China Postdoctoral Science Foundation [2011M500627]
- Shanghai Science and Technology Committee Talent Program [11XD1404800]
- Shanghai Education Commission [10GG11]
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Inspired by the biological concept of central pattern generators (CPGs), this paper deals with adaptive walking control of biped robots. Using CPGs, a trajectory generator is designed consisting of a center-of-gravity (CoG) trajectory generator and a workspace trajectory modulation process. Entraining with feedback information, the CoG generator can generate adaptive CoG trajectories online and workspace trajectories can be modulated in real time based on the generated adaptive CoG trajectories. A motion engine maps trajectories from workspace to joint space. The proposed control strategy is able to generate adaptive joint control signals online to realize biped adaptive walking. The experimental results using a biped platform NAO confirm the effectiveness of the proposed control strategy.
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