Articles producció científica> Enginyeria Informàtica i Matemàtiques

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

  • Datos identificativos

    Identificador: PC:2951
    Autores:
    Cristiano, J.Puig, D.García, M.A.
    Resumen:
    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.
  • Otros:

    Autor según el artículo: Cristiano, J.; Puig, D.; García, M.A.
    Departamento: Enginyeria Informàtica i Matemàtiques
    Autor/es de la URV: CRISTIANO RODRÍGUEZ, JULIÁN EFRÉN; PUIG VALLS, DOMÈNEC SAVI; García, M.A.
    Palabras clave: Adaptive control Biologically inspired control Central pattern generators
    Resumen: 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.
    Grupo de investigación: Robòtica i Visió Intel.ligents
    Áreas temáticas: Enginyeria informàtica Ingeniería informática Computer engineering
    Acceso a la licencia de uso: https://creativecommons.org/licenses/by/3.0/es/
    ISSN: 1888-0258
    Identificador del autor: 0000-0001-6317-6538; 0000-0002-0562-4205;
    Fecha de alta del registro: 2017-11-27
    Página final: 47
    Volumen de revista: 8
    Versión del articulo depositado: info:eu-repo/semantics/publishedVersion
    Enlace a la fuente 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 Documento de licencia: https://repositori.urv.cat/ca/proteccio-de-dades/
    DOI del artículo: 10.14198/JoPha.2017.8.1.06
    Entidad: Universitat Rovira i Virgili
    Año de publicación de la revista: 2017
    Página inicial: 40
    Tipo de publicación: Article Artículo Article
  • Palabras clave:

    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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