CPG based control for generating stable bipedal trajectories under external perturbation

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

doi:10.1109/SICE.2007.4421133

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 proceeding › Conference 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 language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	1019-1022
Number of pages	4
DOIs	https://doi.org/10.1109/SICE.2007.4421133
Publication status	Published - Dec 1 2007
Externally published	Yes
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: Sept 17 2007 → Sept 20 2007

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country/Territory	Japan
City	Takamatsu
Period	9/17/07 → 9/20/07

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

Access to Document

10.1109/SICE.2007.4421133

Cite this

Liu, GL, Habib, MK, Watanabe, K & Izumi, K 2007, CPG based control for generating stable bipedal trajectories under external perturbation. in SICE Annual Conference, SICE 2007., 4421133, Proceedings of the SICE Annual Conference, pp. 1019-1022, SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007, Takamatsu, Japan, 9/17/07. https://doi.org/10.1109/SICE.2007.4421133

@inproceedings{d48a249aeed04301bf639806304d47ae,

title = "CPG based control for generating stable bipedal trajectories under external perturbation",

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.",

keywords = "Biped locomotion, Central Pattern Generator (CPG), Nonlinear neural oscillator",

author = "Liu, {Guang Lei} and Habib, {Maki K.} and Keigo Watanabe and Kiyotaka Izumi",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/SICE.2007.4421133",

language = "English",

isbn = "4907764286",

series = "Proceedings of the SICE Annual Conference",

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note = "SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 ; Conference date: 17-09-2007 Through 20-09-2007",

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TY - GEN

T1 - CPG based control for generating stable bipedal trajectories under external perturbation

AU - Liu, Guang Lei

AU - Habib, Maki K.

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

PY - 2007/12/1

Y1 - 2007/12/1

N2 - 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.

AB - 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.

KW - Biped locomotion

KW - Central Pattern Generator (CPG)

KW - Nonlinear neural oscillator

UR - http://www.scopus.com/inward/record.url?scp=50249132731&partnerID=8YFLogxK

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DO - 10.1109/SICE.2007.4421133

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SN - 9784907764289

T3 - Proceedings of the SICE Annual Conference

SP - 1019

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BT - SICE Annual Conference, SICE 2007

T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007

Y2 - 17 September 2007 through 20 September 2007

ER -

CPG based control for generating stable bipedal trajectories under external perturbation

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Keywords

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