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Advances in Robotics: Modeling, Control and Applications
Title
Advances in Robotics: Modeling, Control and Applications
Editor
Calin Ciufudean and Lino García
Price
USD$139.00
ISBN
978-1-461108-443
Clicks
33273

Chapter 1

Advances in Robotics: Modeling, Control and Applications

Adaptive Walking of a Biped Robot using Nonlinear Oscillators with Phase Resetting

by Shinya Aoi

Viewed: 1974

Abstract

Humans and animals produce adaptive locomotion in diverse environments by cooperatively and skillfully manipulating their complicated and redundant musculoskeletal systems. In robotics research, interest in the study of legged robots has been growing. However, legged robots still have difficulties in achieving adaptive behaviors in various environmental situations unlike humans and animals. We proposed a locomotion control system using nonlinear oscillators based on the physiological concept of central pattern generators and phase resetting mechanism. This control system produced adaptive walking of a biped robot against perturbations and environmental variations. This paper shows the usefulness of this locomotion control system from 1. stability analysis using a simple biped robot model and 2. experiments using a biped robot.

Author Details

Shinya Aoi
Kyoto University, Japan

Citation

Shinya Aoi. Adaptive Walking of a Biped Robot using Nonlinear Oscillators with Phase Resetting. In Advances in Robotics: Modeling, Control and Applications. ISBN:978-1-461108-443. iConcept Press. 0000.

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