Abstract
This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. The presented approach uses two reflexes to attain the stability in the sagittal and coronal planes. Results of the system on a simulated biped robot and a real robot show the feasibility of this approach.
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© 2008 Springer-Verlag Berlin Heidelberg
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Acosta Calderon, C.A., Mohan, R.E., Zhou, C. (2008). Rhythmic Locomotion Control of Humanoid Robot. In: Gelbukh, A., Morales, E.F. (eds) MICAI 2008: Advances in Artificial Intelligence. MICAI 2008. Lecture Notes in Computer Science(), vol 5317. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88636-5_60
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DOI: https://doi.org/10.1007/978-3-540-88636-5_60
Publisher Name: Springer, Berlin, Heidelberg
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