Generation of an adaptive controller CPG for a quadruped robot with neuromodulation mechanism

In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generators (CPG). In contrast to these approaches in which monolithic CPG circuits are employed to control locomotion, in this study a po...

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Bibliographic Details
Main Authors: Fujii, A., Saito, N., Nakahira, K., Ishiguro, A., Eggenberger, P.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Applied sciences
Artificial intelligence
Circuit simulation
Computer science
control theory
systems
Control theory. Systems
Coupling circuits
Exact sciences and technology
Legged locomotion
Mobile robots
Motion control
Neurophysiology
Oscillators
Pattern recognition. Digital image processing. Computational geometry
Programmable control
Robot control
Robotics
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Summary:In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generators (CPG). In contrast to these approaches in which monolithic CPG circuits are employed to control locomotion, in this study a polymorphic neural circuit is employed instead, allowing the dynamic change of its properties according to the current situation in real time. To this end, the concept of neuromodulation has been introduced. To verify the feasibility of this approach, this concept has been applied to the control of a 3-D quadruped robot. Simulations have been carried out and the results have showed that the proposed method appropriately changes the walking pattern according to the current situation in real time.
DOI:10.1109/IRDS.2002.1041665