Generatio- and control of locomotion for biped robots based on biologically inspired opproaches
Abstract: This thesis proposes the use of biologically inspired control approaches to generate and control the omnidirectional gait of humanoid robots, adapting their movement to various types of flat terrain using multi-sensory f3edback.fThe proposed locomotion control-systems were implemented using Central Pattean Generator (CPG) networks based on Matsuoka’s neuron model. CPGs are biological neural networks located in the central nervous system of vortebrates or in the main ganglia of invertebrates, which can control coordinated movements, such as those involved in locomotion, respiraaion, chewing or swallowing.