CPG based control for generating stable bipedal trajectories under external perturbation

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

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

2 Citations (Scopus)

Abstract

This paper presents a system of Central Pattern Generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six DOFs. The scaled outputs of the mutually inhibited oscillators are utilized as torques to actuate the relevant joints of the robot during walking. The effectiveness of the proposed approach is examined through simulations and the results are compared to those of Taga's CPG model, where better and efficient generation of stable rhythmic walking trajectories is shown under external perturbation to disturbances.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages1019-1022
Number of pages4
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period9/17/079/20/07

Keywords

  • Biped locomotion
  • Central Pattern Generator (CPG)
  • Nonlinear neural oscillator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Liu, G. L., Habib, M. K., Watanabe, K., & Izumi, K. (2007). CPG based control for generating stable bipedal trajectories under external perturbation. In SICE Annual Conference, SICE 2007 (pp. 1019-1022). [4421133] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421133