Abstract
Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a “minimalist” bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion.
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Owaki, D., Kano, T., Tero, A., Akiyama, M., Ishiguro, A. (2013). Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_45
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DOI: https://doi.org/10.1007/978-3-642-33932-5_45
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