A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model

Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator...

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Bibliographic Details
Published in:IEEE transactions on robotics 2008-02, Vol.24 (1), p.185-191
Main Authors: Morimoto, J., Endo, G., Nakanishi, J., Cheng, G.
Format: Article
Language:English
Subjects:
Biological
Biological control systems
Biological system modeling
Biological systems
Biologically inspired approach
biped walking
central pattern generator
Control systems
Controllers
coupled oscillator
Humanoid
Humanoid robots
Legged locomotion
Locomotion
Motion control
Oscillators
Phase detection
Robot control
Robots
Robust control
Strategy
Trajectories
Walking
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Summary:Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We hypothesize that a similar mechanism may exist in biological systems. We applied the proposed biologically inspired control strategy to our newly developed human-sized humanoid robot computational brain (CB) and a small size humanoid robot, enabling them to generate successful stepping and walking patterns.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.915457