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.
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={}