Methods Synthesis of Central Pattern Generator Inspired Biped Walking Control

2015 ◽  
pp. 371-379 ◽  
Author(s):  
Chengju Liu ◽  
Qijun Chen
Keyword(s):  
Central Pattern Generator ◽  
Pattern Generator ◽  
Biped Walking ◽  
Walking Control ◽  
Biped Walking Control

scholarly journals Generalized biped walking control

2010 ◽  
Vol 29 (4) ◽  
pp. 1-9 ◽  
Author(s):  
Stelian Coros ◽  
Philippe Beaudoin ◽  
Michiel van de Panne
Keyword(s):  
Biped Walking ◽  
Walking Control ◽  
Biped Walking Control

A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

Robotica ◽  
2009 ◽  
Vol 28 (6) ◽  
pp. 869-884 ◽  
Author(s):  
Chenglong Fu ◽  
Feng Tan ◽  
Ken Chen
Keyword(s):  
Central Pattern Generator ◽  
Hip Joint ◽  
Control Algorithm ◽  
Sensory Feedback ◽  
Environmental Variation ◽  
Pattern Generator ◽  
Biped Walking ◽  
Bifurcation Phenomenon ◽  
Sinusoidal Oscillator ◽  
Efficient Gait

SUMMARYThis paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

scholarly journals Generalized biped walking control

2010 ◽  
Author(s):  
Stelian Coros ◽  
Philippe Beaudoin ◽  
Michiel van de Panne
Keyword(s):  
Biped Walking ◽  
Walking Control ◽  
Biped Walking Control
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