Abstract
This paper proposes a method for enhancing the robustness of the central pattern generator (CPG)-based three-dimensional (3D) neuromusculoskeletal walking controller. The CPG has been successfully applied to walking controllers and controllers for walking robots. However, the robustness of walking motion with the CPG-based controller is not sufficient, especially when subjected to external forces or environmental variations. To achieve a realistic and stable walking motion of the controller, we propose the use of an attracting controller in parallel with the CPG-based controller. The robustness of the proposed controller is confirmed through simulation results.
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Kim, Y., Tagawa, Y., Obinata, G. et al. Robust control of CPG-based 3D neuromusculoskeletal walking model. Biol Cybern 105, 269–282 (2011). https://doi.org/10.1007/s00422-011-0464-4
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DOI: https://doi.org/10.1007/s00422-011-0464-4