Optimization of Central Pattern Generator-Based Torque-Stiffness-Controlled Dynamic Bipedal Walking
نویسندگان
چکیده
منابع مشابه
Torque-Stiffness-Controlled Dynamic Walking
2 State of the Art Previous studies indicated that introducing adaptable compliance to dynamic walking is beneficial to modulating walking performance and extending the versatility [1-3]. However, in most of these studies, the stiffness is changed off-line. The transition of different walking patterns in real time was not investigated. Our previous study [4] has demonstrated walking pattern tra...
متن کاملWalking Pattern Generator Using an Evolutionary Central Pattern Generator
For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central Pattern Generator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evol...
متن کاملOptimization of Mass and Stiffness Distribution for Efficient Bipedal Walking
Energy-efficient control of bipedal walking robots requires both minimization of mechanical energy losses (often mainly due to impacts) and the use of natural oscillations in a mechanism to minimize actuator torques (as shown by research on passive dynamic walking). In this paper, we discuss how these aspects can be analyzed and optimized using mathematical models of the dynamics, as opposed to...
متن کاملGait Generation for a Bipedal System By Morris-Lecar Central Pattern Generator
The ability to move in complex environments is one of the most important features of humans and animals. In this work, we exploit a bio-inspired method to generate different gaits in a bipedal locomotion system. We use the 4-cell CPG model developed by Pinto [21]. This model has been established on symmetric coupling between the cells which are responsible for generating oscillatory signals. Th...
متن کاملA Bipedal Walk Using Central Pattern Generator(CPG)
In biological systems, the rhythm generator mechanism called Central Pattern Generator (CPG) is involved in rhythmic activities, such as locomotion, respiration, heartbeat, etc, and various mathematical neuron models are proposed. In this paper, the CPG network consists of the Matsuoka neuron model, and is introduced to realize the locomotion of a bipedal robot. The outputs of neurons are utili...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2020
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2020/1947061