Dynamical Walk of Stilts Type Biped Locomotion
نویسندگان
چکیده
منابع مشابه
Sensorimotor Control of Biped Locomotion
Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
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This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...
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The study of mechanisms like mechanical members intends not only to build autonomous robots, but also to help in the rehabilitation of human being. The study of locomotion to take part in this context, and has been intensively studied since the second half of 20th century. An ample vision of the state of the technique up to 1990 can be found in works as Raibert (1986) and Vukobratovic et al. (1...
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In this paper, we report on our research for learning biped locomotion from human demonstration. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a CPG of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajecto...
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Bipedal locomotion is a significantly complex yet surprisingly efficient means of movement. Long thought to require a high degree of feedback control, modern research has shown that periodic bipedal gaits are generated by central pattern generators (CPG) (Ijspeert, 2008). While feedback can and often does play a role in determining the parameters of the CPG when an animal moves, basic periodic ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1982
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.48.1445