Central Pattern Generator Inspired Control for Adaptive Walking of Biped Robots

被引：61
|
作者：
Liu, Chengju [1 ]
Wang, Danwei [2 ]
Chen, Qijun [1 ]
机构：
[1] Tongji Univ, Coll Elect & Informat Engn, Shanghai 201804, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2013年 / 43卷 / 05期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Adaptive walking; biped robot; central pattern generator (CPG); trajectory generator; LOCOMOTION CONTROL; HUMANOID ROBOT; MODEL; OPTIMIZATION; ANIMALS; SYSTEM;
D O I：
10.1109/TSMC.2012.2235426
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1206 / 1215
页数：10
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