Bezier curve model for efficient bio-inspired locomotion of low cost four legged robot

Azhar Aulia Saputra, Noel Nuo Wi Tay, Yuichiro Toda, János Botzheim, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper presents Bezier curve based passive neural control applied in bio-inspired locomotion in order to decrease the computational cost implemented for 4 legged animal robot which has 3 joints in each leg. Neural oscillator model is applied for generating the walking pattern in bioinspired locomotion. Bezier curve based optimization represents passive neural control supported by evolutionary algorithm tor representing the relationship equation between neuron signal and reference joint signal. Passive neural control is implemented in order to reduce the neuron complexity in neuro-based locomotion by controlling 3 joints with one signal without decreasing the performance both in walking pattern and in its stability level, whereas one leg is represented by one motor neuron. Therefore, the 4 legged robot is controlled by 4 motor neurons which have feedback connection with ground and inertial sensor. In order to prove the effectiveness, we implemented the model in computer simulation and in a small 4 legged robot. This model can decrease the computational cost so it is possible to apply the model in either animal or humanoid robot with low frequency processor.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4443-4448
Number of pages6
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

Keywords

  • Bezier based optimization
  • Bio-inspired locomotion
  • Passive neural control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Saputra, A. A., Tay, N. N. W., Toda, Y., Botzheim, J., & Kubota, N. (2016). Bezier curve model for efficient bio-inspired locomotion of low cost four legged robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4443-4448). [7759654] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759654