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Walking Pattern Generator Using an Evolutionary Central Pattern Generator

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Trends in Intelligent Robotics (FIRA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

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Abstract

For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central PatternGenerator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evolutionary algorithm is employed. Walking pattern generator is developed to generate trajectories of ankles and hip using CPG. The effectiveness of the proposed scheme is demonstrated by simulations and real experiments using a Webot dynamic simulator and a small sized humanoid robot, HSR-IX.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, KAIST, Daejeon, Korea

    Chang-Soo Park, Jeong-Ki Yoo, Young-Dae Hong, Ki-Baek Lee, Si-Jung Ryu & Jong-Hawn Kim

Authors
  1. Chang-Soo Park
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  2. Jeong-Ki Yoo
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  3. Young-Dae Hong
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  4. Ki-Baek Lee
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  5. Si-Jung Ryu
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  6. Jong-Hawn Kim
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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© 2010 Springer-Verlag Berlin Heidelberg

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Park, CS., Yoo, JK., Hong, YD., Lee, KB., Ryu, SJ., Kim, JH. (2010). Walking Pattern Generator Using an Evolutionary Central Pattern Generator. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_9

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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