Research on Walking Gait of Biped Robot Based on a Modified CPG Model

Lu, Qiang; Tian, Jie

doi:10.1155/2015/793208

Cited by 5 publications

(5 citation statements)

References 25 publications

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“…At present, the hopf oscillator, matsuoka oscillator and rayleigh oscillator are widely used among the nonlinear oscillator models [8]. In view of the hopf oscillator model is relatively simple, the parameters are less and easy to optimize, this paper selects the hopf oscillator to build CPG network.…”

Section: Mathematical Model Analysis Of Hopf Oscillatormentioning

confidence: 99%

Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

Xie¹,

Zhao²,

Jia³

et al. 2016

Proceedings of the 6th International Conference on Information Engineering for Mechanics and Materials

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Abstract. To achieve the artificial leg of biped robot with heterogeneous legs (BRHL) humanoid walking, the gait planning of artificial leg was researched in this paper based on central pattern generator (CPG). Firstly, the hopf oscillator was analyzed and applied to build the CPG network. Then, the parameters of CPG network were optimized by genetic algorithm and the gait curves of CPG network planning were obtained by MATLAB simulation. Finally, based on ADAMS, the walking simulation of BRHL was carried out and the rationality of the gait planning of artificial leg by CPG network was verified.

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Section: Mathematical Model Analysis Of Hopf Oscillatormentioning

confidence: 99%

Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

Xie¹,

Zhao²,

Jia³

et al. 2016

Proceedings of the 6th International Conference on Information Engineering for Mechanics and Materials

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“…The solution x( ) of the biped's model described by (3) and (15) corresponds to the solution of the system with impulsive effects:…”

Section: Propositionmentioning

confidence: 99%

“…This paper studies a planar biped robot that consists of seven links: two femurs, two tibias, two feet, and one torso. This structure of biped robot is the simplest that approximately reproduces the mechanism of human walking [2,3].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Finite-Time Walking Control of a Biped Robot with Feet

Machado

Becerra

Rocha

2015

Mathematical Problems in Engineering

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This paper addresses the problem of modeling and controlling a planar biped robot with six degrees of freedom, which are generated by the interaction of seven links including feet. The biped is modeled as a hybrid dynamical system with a fully actuated single-support phase and an instantaneous double-support phase. The mathematical modeling is detailed in the first part of the paper. In the second part, we present the synthesis of a controller based on virtual constraints, which are codified in an output function that allows defining a local diffeomorphism to linearize the robot dynamics. Finite-time convergence of the output to the origin ensures a collision between the swing foot and the ground with an appropriate configuration for the robot to give a step forward. The components of the output track adequate references that encode a walking pattern. Finite-time convergence of the tracking errors is enforced by using second-order sliding mode control. The main contribution of the paper is an evaluation and comparison of discontinuous and continuous sliding mode control in the presence of parametric uncertainty and external disturbances. The robot model and the synthesized controller are evaluated through numerical simulations.

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“…Due to these and some other properties, it is preferred in many CPG controlled biped robot systems, see e.g. [25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Two-Legged Robot Motion Control With Recurrent Neural Networks

Catalbas

Morgül

2022

J Intell Robot Syst

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Legged locomotion is a desirable ability for robotic systems thanks to its agile mobility and wide range of motions that it provides. In this paper, the use of neural network-based nonlinear controller structures which consist of recurrent and feedforward layers have been examined in the dynamically stable walking problem of two-legged robots. In detail, hybrid neural controllers, in which long short-term memory type of neuron models employed at recurrent layers, are utilized in the feedback and feedforward paths. To train these neural networks, supervised learning data sets are created by using a biped robot platform which is controlled by a central pattern generator. Then, the ability of the neural networks to perform stable gait by controlling the robot platform is examined under various ground conditions in the simulation environment. After that, the stable walking generation capacity of the neural networks and the central pattern generators are compared with each other. It is shown that the inclusion of recurrent layer provides smooth transition and control between stance and flight motion phases and L 2 regularization is beneficial for walking performance. Finally, the proposed hybrid neural network models are found to be more successful gait controllers than the central pattern generator, which is employed to generate data sets used in training.

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Research on Walking Gait of Biped Robot Based on a Modified CPG Model

Cited by 5 publications

References 25 publications

Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

Modeling and Finite-Time Walking Control of a Biped Robot with Feet

Two-Legged Robot Motion Control With Recurrent Neural Networks

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