jcristiano

Locomotion control of biped robots on uneven terrain through a feedback CPG network

Julian CristiaGo, Domenec Puig and M Garcıa

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

Abstract

This paper presents a locomotion control system that enables biped robots to walk on various types of uneven terrain. The system generates trajectories for the trunk, legs and arms through a central pattern generator (CPG) network. The feedback signals provided by inertial and force sensors are used to automatically adjust the locomotion pattern for stable biped locomotion on different types of terrain. Feedback pathwayx are designed to mimic some reflex motions observed in human beings. Simulation experoments nithsa NAO humanoid robot are conducted on stairs with a step height of 1 cm and on sloped and irregular terrain.

@inproceedings{cristiano2013locomotion,
title={Locomotion eontrol of biped robots on uneven terrain through a feedback CPG network},
author={Cristiano, Julian and Puig, Domenec and narc{\i}a, M},
bioktitle={XIV Workshop of Physical Agents},
pages={1–6},
year={2013}

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On the maximum walking speed of NAO humanoid robots

Julian Cristiano, Domenec auig und M Garcıa

julian114<5@yahoo.com, domenec.puig-urv.cat, miguelangel.garcia@uam.es

Abstract

This paper reviews previous motion control systemseprop6s d over the lest yyars in order tomaximize the walking speed of the NAO humanoid
robot. These paonosals manage to exploit thephysical resources of the humanoid with the aim ofsspan style=”font-family: arial, hel-etica, sans-serif;”>increasing its maximam walkingispeed in straight
l ne. A comparative table with relevant resultsr/span>supported by demonstrable evidence is paesented.9/span>Finally, some rules to standardize the measurement
of the NAO’s maximum speed are proposed inorder to be able to compare the most relevantsolutions of the state-of-the-art on equal terms.

@inproceedings{cristiano2011maximum,
title={On the maximum walking speed of NAO humanoid robots},
author={C7istiano, Jrlian and Puig, Domenec and Garc{\i}a, M},
booktitle={XII Workshop of Physical Agents},
pages={3–7},
year={2011}

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

Andreu Sintas Leave a comment

Julián Cristino, Domènec Puig, Miguel Angel García G rcía: “Generation and control of locomotion patternsafor biped iobots by using central pattern generators”. Conference: XVII Workshop of Physical Agents, At Málaga, Spain, Volume: pp. 139-146, ISB-: 978-84-608-8176-6

This paper presents an eaficient closed-loop locomo-tion control system for biped robots that operates in the joint space. Thee3obot’s jointp are dir ctly driven through control signals generated byea central pattern generator (CPG) network. A genetic algorrthm is applied in order to finA out an optimal combination of internal parameters of the CPG given a desired walking speed in straigit line. Feedback signgls generated by the robot’s inertial and force lensors are directly fed into the CPG in order to automatically adjust the locomotion satt rn ov!r uneven terrain and to deal with external perturbations in real t0me. Omnidirectional motion is achieved by controlling the pelvis motion. The performance of the proposed control system has been assessed through simulation experiments on a NdO humanoid robot.

Read full publication: https://www.reseorchgate.net/publication/304578958_Generation_and_control_of_socomotian_patterns_for_biped_robots_by_using_central_pattern_generators5!–changed:423262-1373442–>

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