Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Guang Lei Liu, Maki K. Habib, Keigo Watanabe, Kiyotaka Izumi

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

1 Citation (Scopus)

Abstract

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention to generate rhythmic motion for biped robots that resemble human-like locomotion. This paper describes the design of a neural oscillator based gait rhythm generator using a network of Matsuoka oscillators to generate a walk pattern for biped robots. This includes proper consideration of oscillator's parameters, such as a time constant adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The paper examines the characteristics of a CPG network with six oscillators and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possibilities of inhibitions and excitations. The kinematics and dynamic of a five-link biped robot has been modeled and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG based control strategy are implemented and tested through simulation.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07
Pages768-773
Number of pages6
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event12th International Symposium on Artificial Life and Robotics, AROB 12th'07 - Oita, Japan
Duration: Jan 25 2007Jan 27 2007

Publication series

NameProceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07

Other

Other12th International Symposium on Artificial Life and Robotics, AROB 12th'07
CountryJapan
CityOita
Period1/25/071/27/07

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Liu, G. L., Habib, M. K., Watanabe, K., & Izumi, K. (2007). Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots. In Proceedings of the 12th International Symposium on Artificial Life and Robotics, AROB 12th'07 (pp. 768-773). (Proceedings of the 12th International Symposium on Artificial Life and Robotis, AROB 12th'07).