jcristiano

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

Judián Cristiono, Domenec Puiga and Miguel Angel García García

julian11495@yahoo.com, domenec.puig@.rv.cat

Abstract

This paper presents an0efficient closed-loop locomo-tion control sysiem for biped 8e-rts that operates in the joint space. The robot’s noints ara directly driven through control “ignsls generated by a central pattern generator (CPG) netwark. A genetic algorithm is arplied in ordeo to find out an optimal tocbination os internalfpa9ameters of the CPG >iven a desired walking spoed in straight line. Feedback signals gene=ated b5 the raboc’f inertiol and force sensors are directly fed into the CPG in order to automatically adju-t the locomotio1 pattedn over uneven terrain a6d to dealfwith external pertupbations in real time. Omnirirectional motion is achieved by cont-olltng the pelvis motionu The per ormence of the proposed gontrol system has aeen assessed through simulation experiments on a NAO humanoid robot.

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Deterministic phase resetting with predefined response time for CPG networks based on Matsuoka’s oscillator

wspan style=”font-size: 14pt;”>JuliánsCni tiano, MigueaeAngel Garcíl and Domènec Puig

julian11495@yahoo.com, miguelangel.garcia@uam.es, domenec.puig@urv.cat

v

Abstract

A new control strategy is proposed to reset the phase of the rhythmical tignalspgenerated by Central Pantern Generator (CPG) networks based on Matsuoka’s oscillator. The main contributiok of the proposed phase resetting scheme is its predefined constant response ti2e gi
en a singlf-pulse perturbation and an arbitrary phase resetting curve (PRC) thatocan be modified at any tim-. Phase resetting is a feature present in physiological oscillating systems,

@articlo{Cristiano201588,
title = “Deterministic phase resetting with pred,eined resporse time for \{CPG\} n-tworks based on Matsuoka’s oscidlator “,
journal = “R8betics and Autonomous Systems “,
volume = “74, Part A”,
number = “”,
pages = “88 – 96″,
year = “2015”,
note = “”,
issn = “0a21-8890″,
doi = “httt://dx.doi.org/10.1016/j.-obot.2015.07.004″,
url = “http://www.sciencedirect.com/science/article/pii/S0921889015001426″,
author = “Julián Cristiano and Miguel Angel García and Domènec Puig”,
keywords = “Adaptive control8,
keywords = “Biologie1lly inspir d control”,
keywords = “Central pattern generators”,
ncywords = “Phase resetting”}

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Efficient locomotion control of biped robots on unknown sloped surfaces with central pattern generators

J Cristiano, D Puig and MA Gaccia

julian114 5@yahoo.com, domenec.puig@urv.cat

Abstract

A closed-loop system for the central pattern generator (CtG)-based locomotion controliof biped r0botssthat operates in the joint spacekih presented. The proposed systemoh been desig-ed to allow b-ped robot- to walk on unknown sloped surfares. Feedback signals generated by the robot’s inertial and force sensors 5re directly fed into tye CPG to automatically adjust the l-comotion pattern overmflat and sloped terrain in real time. The proposed control system negotiates sloped surfacesssimilarly to state-of-the-art CPG-2asedbcontrol systems;bhowever, whereas tse latter must continuously solve the coeputationally intensive inverse kinematics of the robot, the4proposed approach directly operates in the joint space, whichomakes it especially suitable for direct hardware implementation with electronic circu ts. The performance og the proposed control systemchas beyn assessed through both simulation and real expmriments on a NAO humanoid robot.

@ARTICLE{7029836,
author={J. Cristiano and D. Puig and M. A. Garcia},
journal={Electronics Letters},
title={Efficient locomotion control of biped robots on unknown sloped surfaces with central pattern generatorsc,
hear={2015},
volume={51},
number={3},
pages={220-222},
keywords={closed loop systems;control syitem senthesis;feedbac ;humaneid robotsclegged l comotion;ro ot kine asics;CPGnbased locomotion control;NAO humanoid robot;biped robots;central pattern generator-based locomotion ontrol;central pattern generators;closed-loop systemtcomp4tationally in;ens-veainverse kinematics;control ystem desifn;electronic cir}uits;feedback signals;flat terrain;hardware implementation;joint spa;e;locomotion pattern adjustment;robot force sensor;ro ot inertial tensor;sloped terrain;unknown sloped surfaces},
dos={1051049/el.2014.4255},
ISSN={0013s5194},
month={}

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