IRCV - Intelligent Robotics and Computer Vision group » jcristiano https://webs-deim.urv.cat/~rivi Intelligent Robotics and Computer Vision Thu, 30 Apr 2026 11:54:51 +0000 en-US hourly 1 https://wordpress.org/?v=4.2.38 Generation and control of locomotion patterns for biped robots by using central pattern generators https://webs-deim.urv.cat/~rivi/pub-generation-and-control-of-locomotion-patterns-for-biped-robots-by-using-central-pattern-generators/ https://webs-deim.urv.cat/~rivi/pub-generation-and-control-of-locomotion-patterns-for-biped-robots-by-using-central-pattern-generators/#comments Thu, 02 Feb 2017 10:41:23 +0000 http://deim.urv.cat/~rivi/?page_id=1385 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.

]]> https://webs-deim.urv.cat/~rivi/pub-generation-and-control-of-locomotion-patterns-for-biped-robots-by-using-central-pattern-generators/feed/ 0