Author, as appears in the article.: Cristiano, J.; Puig, D.; García, M.A.

Department: Enginyeria Informàtica i Matemàtiques

URV's Author/s: CRISTIANO RODRÍGUEZ, JULIÁN EFRÉN; PUIG VALLS, DOMÈNEC SAVI; García, M.A.

Keywords: Adaptive control Biologically inspired control Central pattern generators

Abstract: This paper presents an efficient closed-loop locomotion control system for biped robots that operates in the joint space. The robot's joints are directly driven through control signals generated by a central pattern generator (CPG) network. A genetic algorithm is applied in order to find out an optimal combination of internal parameters of the CPG given a desired walking speed in straight line. Feedback signals generated by the robot's inertial and force sensors are directly fed into the CPG in order to automatically adjust the locomotion pattern over uneven terrain and to deal with external perturbations in real time. Omnidirectional motion is achieved by controlling the pelvis motion. The performance of the proposed control system has been assessed through simulation experiments on a NAO humanoid robot.

Research group: Robòtica i Visió Intel.ligents

Thematic Areas: Enginyeria informàtica Ingeniería informática Computer engineering

licence for use: https://creativecommons.org/licenses/by/3.0/es/

ISSN: 1888-0258

Author identifier: 0000-0001-6317-6538; 0000-0002-0562-4205;

Record's date: 2017-11-27

Last page: 47

Journal volume: 8

Papper version: info:eu-repo/semantics/publishedVersion

Link to the original source: https://www.jopha.ua.es/article/view/2017-v8-n1-generation-and-control-of-locomotion-patterns-for-biped-robots-by-using-central-pattern-generators

Article's DOI: 10.14198/JoPha.2017.8.1.06

Entity: Universitat Rovira i Virgili

Journal publication year: 2017

First page: 40

Publication Type: Article Artículo Article