A central pattern generator approach to footstep transition for biped navigation
نویسندگان
چکیده
منابع مشابه
A Realtime Pattern Generator for Biped Walking
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern genera...
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In this paper we study gait transition in a central pattern generator (CPG) model for bipedal locomotion. This model is proposed by Golubitsky, Stewart, Buono and Collins (14; 15) and is studied further by Pinto and Golubitsky (28). It is a network of four coupled identical cells, with D2 symmetry. Each cell is modeled by a system of ordinary differential equations. We briefly review the work d...
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هدف اصلی از این تحقیق به دست آوردن و مقایسه حق بیمه باورمندی در مدل های شمارشی گزارش نشده برای داده های طولی می باشد. در این تحقیق حق بیمه های پبش گویی بر اساس توابع ضرر مربع خطا و نمایی محاسبه شده و با هم مقایسه می شود. تمایل به گرفتن پاداش و جایزه یکی از دلایل مهم برای گزارش ندادن تصادفات می باشد و افراد برای استفاده از تخفیف اغلب از گزارش تصادفات با هزینه پائین خودداری می کنند، در این تحقیق ...
15 صفحه اولCentral pattern generator for legged locomotion: a mathematical approach
This paper is a survey of the work done by Pinto and Golubitsky [13] concerning two models of central pattern generators, one for leg rhythms in bipeds and the other for arm and leg interlimb coordination patterns in bipeds. We focus on the model proposed for the rhythms of leg movements, leg. We use a mathematical approach, based on symmetry techniques, to study the periodic solutions produced...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2017
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881416682708