Articles producció científica> Enginyeria Informàtica i Matemàtiques

Generation and control of locomotion patterns for biped robots by using central pattern generators

  • Dades identificatives

    Identificador: PC:2951
    Autors:
    Cristiano, J.Puig, D.García, M.A.
    Resum:
    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.
  • Altres:

    Autor segons l'article: Cristiano, J.; Puig, D.; García, M.A.
    Departament: Enginyeria Informàtica i Matemàtiques
    Autor/s de la URV: CRISTIANO RODRÍGUEZ, JULIÁN EFRÉN; PUIG VALLS, DOMÈNEC SAVI; García, M.A.
    Paraules clau: Adaptive control Biologically inspired control Central pattern generators
    Resum: 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.
    Grup de recerca: Robòtica i Visió Intel.ligents
    Àrees temàtiques: Enginyeria informàtica Ingeniería informática Computer engineering
    Accès a la llicència d'ús: https://creativecommons.org/licenses/by/3.0/es/
    ISSN: 1888-0258
    Identificador de l'autor: 0000-0001-6317-6538; 0000-0002-0562-4205;
    Data d'alta del registre: 2017-11-27
    Pàgina final: 47
    Volum de revista: 8
    Versió de l'article dipositat: info:eu-repo/semantics/publishedVersion
    Enllaç font original: https://www.jopha.ua.es/article/view/2017-v8-n1-generation-and-control-of-locomotion-patterns-for-biped-robots-by-using-central-pattern-generators
    URL Document de llicència: https://repositori.urv.cat/ca/proteccio-de-dades/
    DOI de l'article: 10.14198/JoPha.2017.8.1.06
    Entitat: Universitat Rovira i Virgili
    Any de publicació de la revista: 2017
    Pàgina inicial: 40
    Tipus de publicació: Article Artículo Article
  • Paraules clau:

    Robots--Moviment
    Robots--Sistemes de control
    Adaptive control
    Biologically inspired control
    Central pattern generators
    Enginyeria informàtica
    Ingeniería informática
    Computer engineering
    1888-0258
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