Three-dimensional adaptive dynamic walking of a quadruped - rolling motion feedback to CPGs controlling pitching motion

Kimura, Hiroshi; Fukuoka, Yasuhiro; Hada, Yoshiro; Takase, Kunikatsu

doi:10.1109/robot.2002.1013563

Cited by 34 publications

(15 citation statements)

References 9 publications

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“…However, the implications we could obtain from the experimental results are highly interesting when compared to the investigation of legged locomotion in the dynamical systems approach. Initiated by Taga's simulation work [1], it has been shown that the coupling of body and neural system dynamics provides a stability in the legged locomotion [23], [24]. From the experimental results shown in this paper, however, it can be concluded that the purely mechanical dynamics with a simple sinusoidal oscillation is also capable of maintaining the stability.…”

Section: Discussionmentioning

confidence: 70%

Exploiting body dynamics for controlling a running quadruped robot

Iida¹,

Gomez²,

Pfeifer³

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-Exploiting the body dynamics to control the behavior of robots is one of the most challenging issues, because the use of body dynamics has a significant potential in order to enhance both complexity of the robot design and the speed of movement. In this paper, we explore the control strategy of rapid four-legged locomotion by exploiting the intrinsic body dynamics. Based on the fact that a simple model of four-legged robot is known to exhibit interesting locomotion behavior, this paper analyzes the characteristics of the dynamic locomotion for the purpose of the locomotion control. The results from a series of running experiments with a robot show that, by exploiting the unique characteristics induced by the body dynamics, the forward velocity can be controlled by using a very simple method, in which only one control parameter is required. Furthermore it is also shown that a few of such different control parameters exist, each of them can control the forward velocity. Interestingly, with these parameters, the robot exhibits qualitatively different behavior during the locomotion, which could lead to our comprehensive understanding toward the behavioral diversity of adaptive robotic systems.

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Section: Discussionmentioning

confidence: 70%

Exploiting body dynamics for controlling a running quadruped robot

Iida¹,

Gomez²,

Pfeifer³

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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“…Today there are several bio-inspired applications in robotics regarding locomotion of legged robots [5], [15]. In such sense, we asked the question, "What if a reference of knee angle is generated to be followed by the prosthesis?".…”

Section: A Control With Reference Knee Angle Via Central Pattern Genmentioning

confidence: 99%

Through the development of a biomechatronic knee prosthesis for transfemoral amputees: Mechanical design and manufacture, human gait characterization, intelligent control strategies and tests

Torrealba

Pérez-D’Arpino

Cappelletto

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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This paper presents the development of a biomechatronic knee prosthesis for transfemoral amputees. This kind of prostheses are considered 'intelligent' because they are able to automatically adapt their response at the knee axis, as a natural knee does. This behavior is achieved by characterizing the amputee's gait through the signals captured with instrumentation of a prosthesis, which provides feedback about its current state along the gait cycle and therefore responds with the corresponding control action. In this case, unlike other commercially available intelligent knee prostheses, gait cycle characterization is based on accelerometers signals processed by an events detection algorithm. Two intelligent control strategies are presented: a bio-inspired approach, that consists of using a central pattern generator to generate a knee angle reference to be followed by the prosthesis during walking, and an adaptive scheme, that applies a control action proportional to the knee angle according to an auto-adaptive parameter dependant on gait speed. The mechanical design of the prosthesis is also presented, showing the knee joint mechanism and part of the manufacturing process. Results obtained from walking tests with both able body and amputees are shown, demonstrating the positive performance of the prosthesis in several aspects. Future works aimed at a finished product are also stated.

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“…(1) chain [22,9,23,24], used mainly for snake robots (2) star [25,26,5,27,28], that is a "pacemaker"/ "clock" oscillator which provides a synchronizing signal to the other oscillators (3) tree [29][30][31], where essentially the oscillators are connected as a tree, from proximal to distal joints (4) connection between homologous joints [32][33][34][35][36][37][38][39][40], i.e. joints with a similar function (5) full connection between the oscillators [41][42][43] Our purpose is to let the user modify the behavior of the robot by changing (through touching) the oscillator parameters.…”

Section: Cpg Networkmentioning

confidence: 99%