CPG modulation for navigation and omnidirectional quadruped locomotion

Santos, Cristina P.; Matos, Vitor

doi:10.1016/j.robot.2012.01.004

Cited by 45 publications

(20 citation statements)

References 33 publications

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“…Walking motor patterns are considered to be organized as coupled unit-burst elements. Each unit generator is responsible for the activation of a single joint motion and composed by a motion pattern generator driven by a rhythmic generator [14,27] -a phase oscillator acting as the pace keeping clock in the generation of rhythmic motions in a given leg i, by setting where in the gait cycle the robot is currently in:…”

Section: Bipedal Cpg Approachmentioning

confidence: 99%

“…Despite the valuable insights provided by previous works [20][21][22][23] on ASM acquisition and manipulation, we noticed that several aspects could be improved, specially in the context of periodic tasks -there is no suggested way to deal with large sets of sensor data and no solution for continuously executed movements. Our main focus is in the particular skill of biped locomotion, a rather complex periodic movement heavily influenced by the characteristics of the surrounding environment (type of terrain, actuator noise, etc) [27]. We make use of an already established Central Pattern Generator (CPG) architecture that generates effective and stable biped locomotion for the Robotis DARwIn-OP robot [27].…”

Section: Introductionmentioning

confidence: 99%

“…Our main focus is in the particular skill of biped locomotion, a rather complex periodic movement heavily influenced by the characteristics of the surrounding environment (type of terrain, actuator noise, etc) [27]. We make use of an already established Central Pattern Generator (CPG) architecture that generates effective and stable biped locomotion for the Robotis DARwIn-OP robot [27]. Although not part of the failure detection mechanism, an innovative aspect of this work is the inclusion of a sensory-driven feedback loop, similar to the approach proposed by Owaki et al [17], that enhances even further the role perceptual information has in the generation of gait dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Skill Memory in Biped Locomotion

André

Santos

Costa

2015

J Intell Robot Syst

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Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken.

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Section: Bipedal Cpg Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Skill Memory in Biped Locomotion

André

Santos

Costa

2015

J Intell Robot Syst

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“…CPG는 보행등의 규칙적이고 적응적인 움직임을 발생하는 것으로 알려져 있으며, 이에 기 반하여 로봇에 필요한 다양한 주기적 패턴의 움직임을 생성 할 수 있다 [5,6]. CPG를 이용한 보행 기법이 초기에는 도룡 농 로봇등에 적용되다가 [6], 4족보행 [7,8] [5]. …”

Section: 서 론unclassified

CPG-based Adaptive Walking for Humanoid Robots Combining Feedback

Lee¹,

Seo²

2014

The Transactions of The Korean Institute of Electrical Engineer

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-The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

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“…예로, 도롱뇽 모 방 로봇에 CPG 모델을 적용하여 걷다가 헤엄을 치는 전이 과정이 CPG 파형의 적응적 수정을 통해 자연스럽게 이루 어짐을 보이고 있다 [6]. 또한, 4족로봇에 대해서 CPG 모델 을 사용하여 회전, 대각선, 측면으로의 전(omnidirectional) 방향 보행 및 각 보행간의 부드러운 전이를 얻고 있다 [9].…”

Section: 기존 접근법 및 Cpg의 적응성unclassified

Generation of Walking Trajectory of Humanoid Robot using CPG

Lee¹,

Seo²

2013

Journal of Korean Institute of Intelligent Systems

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CPG modulation for navigation and omnidirectional quadruped locomotion

Cited by 45 publications

References 33 publications

Skill Memory in Biped Locomotion

Skill Memory in Biped Locomotion

CPG-based Adaptive Walking for Humanoid Robots Combining Feedback

Generation of Walking Trajectory of Humanoid Robot using CPG

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