TY - GEN
T1 - Towards a biologically inspired open loop controller for dynamic biped locomotion
AU - Spitz, Jonathan
AU - Or, Yizhar
AU - Zacksenhouse, Miriam
PY - 2011
Y1 - 2011
N2 - Biped robots are usually controlled using a quasi-static approach. In contrast, dynamic walking robots display more natural gaits which make them faster and more energy efficient. Applying these concepts, a biomimetic open-loop controller based on a Central Pattern Generator (CPG) is designed and applied to a Compass-Gait walker. We use numerical simulations to investigate the resulting gaits and verify stability. The robustness of the system is tested by applying disturbances to the surface slope. The stability of the obtained limit cycles is demonstrated through the system's Poincaré Map.
AB - Biped robots are usually controlled using a quasi-static approach. In contrast, dynamic walking robots display more natural gaits which make them faster and more energy efficient. Applying these concepts, a biomimetic open-loop controller based on a Central Pattern Generator (CPG) is designed and applied to a Compass-Gait walker. We use numerical simulations to investigate the resulting gaits and verify stability. The robustness of the system is tested by applying disturbances to the surface slope. The stability of the obtained limit cycles is demonstrated through the system's Poincaré Map.
UR - http://www.scopus.com/inward/record.url?scp=84860777262&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2011.6181336
DO - 10.1109/ROBIO.2011.6181336
M3 - منشور من مؤتمر
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 503
EP - 508
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -