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Model and control of the locomotion of a biomimic musculoskeletal biped

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Abstract

This article presents a biomimic musculoskeletal biped which contains 7 segments and 18 muscles. The muscle model and body dynamics are constructed based on physiological theories. A motor control system is designed to mimic natural human locomotion, which contains a central pattern generator, a regulator, a compensator, and an impedance controller. The recurrent neural oscillator models the central pattern generator, and an artificial neural network is used to design the regulator. From the simulation study, we found that this biped can produce a rhythmic and stable walking movement similar to actual human walking.

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Correspondence to Dingguo Zhang.

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Zhang, D., Zhu, K. Model and control of the locomotion of a biomimic musculoskeletal biped. Artif Life Robotics 10, 91–95 (2006). https://doi.org/10.1007/s10015-005-0369-1

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  • DOI: https://doi.org/10.1007/s10015-005-0369-1

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