Walking Control Strategy for Biped Robots Based on Central Pattern Generator

被引：0
|
作者：
Liu, Chengju [1 ]
Chen, Qijun [1 ]
机构：
[1] Tongji Univ, Sch Elect & Informat Engn, Shanghai, Peoples R China
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2012年
关键词：
MUSCULO-SKELETAL SYSTEM; LOCOMOTION CONTROL; MODEL; TRAJECTORIES;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the walking control of biped robots inspired by biological concept of central pattern generator (CPG). A control architecture is proposed with a trajectory generator and a motion engine. The trajectory generator consists of a CoG (center of gravity) trajectory generator and a foot trajectory modulator. The CoG generator generates adaptive CoG trajectories ouline and the foot trajectories can be modulated based on the generated CoG trajectories. A biped platform NAO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture.
引用
收藏
页码：57 / 62
页数：6
相关论文
共 50 条
  • [1] Central Pattern Generator Inspired Control for Adaptive Walking of Biped Robots
    Liu, Chengju
    Wang, Danwei
    Chen, Qijun
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2013, 43 (05): : 1206 - 1215
  • [2] Contact impact inhibition strategy for biped robot walking based on central pattern generator
    Wang, Zhipeng
    He, Bin
    Shen, Runjie
    Meng, Weibin
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 733 - 738
  • [3] A Walking Pattern Generator for Biped Robots on Uneven Terrains
    Zheng, Yu
    Lin, Ming C.
    Manocha, Dinesh
    Adiwahono, Albertus Hendrawan
    Chew, Chee-Meng
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010,
  • [4] Methods Synthesis of Central Pattern Generator Inspired Biped Walking Control
    Liu, Chengju
    Chen, Qijun
    [J]. PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT TECHNOLOGY AND SYSTEMS, 2015, 338 : 371 - 379
  • [5] Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex
    Chengju LIU
    Qijun CHEN
    Guoxing WANG
    [J]. Control Theory and Technology, 2013, 11 (03) : 386 - 392
  • [6] Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex
    Liu C.
    Chen Q.
    Wang G.
    [J]. Chen, Q. (qjchen@tongji.edu.cn), 1600, South China University of Technology (11): : 386 - 392
  • [7] A realtime pattern generator for biped walking
    Kajita, S
    Kanehiro, F
    Kaneko, K
    Fujiwara, K
    Yokoi, K
    Hirukawa, H
    [J]. 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 31 - 37
  • [8] Biped walking pattern generator allowing auxiliary ZMP control
    Kajita, Shuuji
    Morisawa, Mitsuharu
    Harada, Kensuke
    Kaneko, Kenji
    Kanehiro, Fumio
    Fujiwara, Kiyoshi
    Hirukawa, Hirohisa
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 2993 - +
  • [9] Central Pattern Generator with Defined Pulse Signals for Compliant-Resistant Control of Biped Robots
    Xu, Zihan
    Fang, Qin
    Liu, Chengju
    Chen, Qijun
    [J]. BIOMIMETICS, 2023, 8 (01)
  • [10] Central pattern generator based reflexive control of quadruped walking robots using a recurrent neural network
    Duc Trong Tran
    Koo, Ig Mo
    Lee, Yoon Haeng
    Moon, Hyungpil
    Park, Sangdeok
    Koo, Ja Choon
    Choi, Hyouk Ryeol
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2014, 62 (10) : 1497 - 1516
12345