The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots

2007 ◽  
Vol 11 (8) ◽  
pp. 946-955 ◽  
Author(s):  
Guang Lei Liu ◽  
◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Degrees Of Freedom ◽  
Central Pattern Generators ◽  
Biped Robot ◽  
Coupling Coefficients ◽  
Neuron Models ◽  
Bipedal Robots ◽  
Biped Robots ◽  
Coupling Dynamics ◽  
Pattern Generators ◽  
6 Degrees Of Freedom

We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustained rhythmic movement with robust gaits for bipedal robots. We discuss the design of a CPG model with new interconnection coupling links and its inhibitation coefficients for a CPG-based controller. The new design was studied through interaction between simulated interconnection coupling dynamics with six links and a musculoskeletal model with the 6 degrees of freedom (DOFs) of a biped robot. We used the weighted outputs of mutually inhibited oscillators as torques to actuate joints. We verified the effectiveness of our proposal through simulation and compared the results to those of Taga’s CPG model, confirming better, more efficient generation of stable rhythmic walking at different speeds and robustness in response to disturbances.

Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

2008 ◽  
Vol 12 (1-2) ◽  
pp. 264-269 ◽  
Author(s):  
Guang Lei Liu ◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Central Pattern Generators ◽  
Biped Robots ◽  
Pattern Generators

scholarly journals Simulation of Octopus Arm Based on Coupled CPGs

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Juan Tian ◽  
Qiang Lu
Keyword(s):  
Phase Diagrams ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Hot Spot ◽  
Central Pattern Generators ◽  
Arm Movements ◽  
Movement Control ◽  
High Dimensionality ◽  
Neuromuscular System ◽  
Pattern Generators

The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features. Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom. The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control. In this paper, three coupled central pattern generators (CPGs) are built and a 2-dimensional dynamic model of the octopus arm is presented to explore possible strategies of the octopus movement control. And the CPGs’ signals treated as activation are added on the ventral, dorsal, and transversal sides, respectively. The effects of the octopus arm are discussed when the parameters of the CPGs are changed. Simulations show that the octopus arm movements are mainly determined by the shapes of three CPGs’ phase diagrams. Therefore, some locomotion modes are supposed to be embedded in the neuromuscular system of the octopus arm. And the octopus arm movements can be achieved by modulating the parameters of the CPGs. The results are beneficial for researchers to understand the octopus movement further.

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

2009 ◽  
Author(s):  
Santosh Pratap Singh ◽  
Ashish Dutta ◽  
Anupam Saxena
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Biped Robot ◽  
Single Step ◽  
Biped Robots ◽  
Gait Parameters ◽  
Reduction Of Energy Consumption ◽  
Torsion Springs ◽  
Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

Design and experiments of a torso mechanism for the ROBIAN biped robot

Robotica ◽  
2005 ◽  
Vol 24 (3) ◽  
pp. 337-347 ◽  
Author(s):  
F. B. Ouezdou ◽  
B. Mohamed ◽  
V. Scesa ◽  
R. Sellaouti
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
Force Sensor ◽  
Human Being ◽  
Coupling Coefficients ◽  
Dynamic Equivalence ◽  
Walking Gait ◽  
Locomotion System ◽  
Major Application ◽  
The Masses

This paper deals with the design and the experiments of the upper part of the ROBIAN biped robot. The motivation of the ROBIAN project is related to the study of the human being locomotion system. The major application of ROBIAN prototype is the development of a real testing bed of active/passive prosthesis devices enhancing research on the human being locomotion mechanism handicaps. The analysis of the wrench six components exerted by the upper part of a virtual manikin on the locomotion apparatus leads to the identification of two coupling relations. Based on the dynamic equivalence concept between mechanisms, the ROBIAN torso mechanism is identified. This concept leads to a four degrees of freedom mechanism able to reproduce the dynamic effects of the upper limbs during the walking gait. The mechanism parameters are optimized with respect to several design criteria and constraints. Then the prototype is built and mounted on the ROBIAN locomotion apparatus through a six components force sensor. Experimental results presented in this paper validate the proposed approach. The experimental coupling coefficients are identified. The influence of the masses motion on the ZMP trajectory are also given, showing the effectiveness of the torso mechanism contribution during a walking gait.

scholarly journals Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach

2005 ◽  
Vol 2 (2) ◽  
pp. 111-116
Author(s):  
J. A. Rojas-Estrada ◽  
J. Marot ◽  
P. Sardain ◽  
G. Bessonnet
Keyword(s):  
Angular Momentum ◽  
Control Problem ◽  
Degrees Of Freedom ◽  
Biped Robot ◽  
Function Approach ◽  
Control Law ◽  
Total Rate ◽  
Biped Robots ◽  
Formal Problem

In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot.

Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results

2020 ◽  
Author(s):  
Ciaphus Rouse ◽  
Trevor Warnix ◽  
Martin Garcia ◽  
Ayse Tekes
Keyword(s):  
Knee Joint ◽  
Biped Robot ◽  
Servo Motor ◽  
Bipedal Robots ◽  
Dynamic Simulations ◽  
Biped Robots ◽  
Spring Element ◽  
Single Piece ◽  
In Series ◽  
High Flexibility

Abstract Design and control of human-like robots mimicking the motion using biped legs are still in demand. However, the vast majority of the biped robots are too heavy due to the number of actuators and their bulky design. Compliant designs can mimic the motions in nature through the large deformation of their compliant members and have the ability to be designed as a single piece thereby reducing the overall weight and increasing the performance of the mechanism. Biped robots specifically designed for walking currently existing in the literature often arranged in series form. Although serial design leads high flexibility, each link carries its actuator compromising the overall weight and stability. This paper presents the design and development of a bioinspired leg for biped robots without the requirement of actuation of the knee or addition of a spring element. Each leg is designed as a single piece by exploiting a compliant knee joint, 3D printed using TPU filament and actuated through a cam design using a servo motor. Servo motor is also attached to the trunk which serves as the torso of the robot body. Zero moment point (ZMP) analysis is performed by adopting simple cart-table and inverted pendulum methods. Stiffness of the compliant knee is obtained from multibody dynamic simulations in MSC Adams. The preliminary testing of the bio-inspired biped robot reveals that the robot performs successful periodic gait.

Modeling, stability and walking pattern generators of biped robots: a review

Robotica ◽  
2013 ◽  
Vol 32 (6) ◽  
pp. 907-934 ◽  
Author(s):  
Hayder F. N. Al-Shuka ◽  
F. Allmendinger ◽  
B. Corves ◽  
Wen-Hong Zhu
Keyword(s):  
Artificial Intelligence ◽  
Control Strategies ◽  
Biped Robot ◽  
Human Locomotion ◽  
Biped Robots ◽  
Walking Pattern ◽  
Control Electronics ◽  
The Subject ◽  
Pattern Generators

SUMMARYBiped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.

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