A Central Pattern Generator based Nonlinear Controller to Simulate Biped Locomotion with a Stable Human Gait Oscillation
نویسندگان
چکیده
This paper describes the designing of a nonlinear biological controller inspired from stable human gait locomotion, which we implement for a stable biped motion on a Biped Robot. The design of a Central Pattern Generator (CPG) which consists of a four coupled Rayleigh Oscillators. A TwoWay oscillator coupling has been used for modeling the CPG. The parameters of the CPG are then optimized by Genetic Algorithm (GA) to match with the stable human gait oscillation. The stable human gait oscillation data was obtained using the Intelligent Gait Oscillation Detector (IGOD) biometric suit, which simultaneously measures both the human hips and knee oscillations. After checking the Limit Cycle behavior of the CPG it has been successfully simulated on the Spring Flamingo robot in YOBOTICS environment.
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