Animal rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by such a biological mechanisms, rhythmic movements controlled by CPG has been studied. As an autonomous learning framework for the CPG controller, we propose an reinforcement learning method , which is called the...

This paper considers the design and evaluation of stabilising controllers for a twelve degree of freedom biped robot using linear quadratic optimal control techniques and reduced order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the doubl...

Abstract— In this paper, a simple Fourier series based algorithm has been used to achieve stable locomotion in an NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Truncated Fourier Series (TFS) to generate control signal for the biped robot. To find the best angular traje...

A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is sensitive to the initial condition and disturbances, studies of Quasi-PDW which incorporates supplemental actuators have been reported to overcome this sensitivity. In this article, we propose a reinforcement learning m...

The advantage of legged locomotion in rough terrain and in confined spaces has been investigated extensively in recent years. It is anticipated that in the next decade or so, the prophecy that anthropomorphic biped robots will work side-by-side with humans will be realised. Recent successes in Japan have advanced the field substantially. However, little research has been conducted into the real...

To date, various methods using the concept of neural circuit or so-called central pattern generators (CPGs) have been proposed to create agile locomotion for legged robots. In contrast to these approaches, in this article we propose a polymorphic neural circuit that allows the dynamic change of its properties according to the current situation in real time to be employed instead. To this end, t...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem, in particular within the RoboCup community. Thus, the development of control mechanisms for biped locomotion have become an important field of research. In this paper we introduce a model-free approach of biped motion generation, which specifies target angles for all...

This paper presents an adaptive two-level control strategy for a biped walking model and demonstrates its performance in a wide range of walking modes with considerably diverse model and control parameter settings. Proposed control strategy inherits a push off that resembles considerably to forceful extension of the trailing leg during push off in human locomotion and represents a very importan...

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This...

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...