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Neural control of a fully actuated biped robot
, Article IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, 6 November 2006 through 10 November 2006 ; 2006 , Pages 3104-3109 ; 1424401364 (ISBN); 9781424401369 (ISBN) ; Hamed, K. A ; Sharif University of Technology
IEEE Computer Society
2006
Abstract
According to the fact that humans and animals show marvelous abilities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground and it can easily rotate about the toe or the heel, the problem of controlling the biped robots is difficult. In this paper, according to the adaptive locomotion patterns of animals, coordination and control of body links have been done with Central Pattern Generator (CPG) in spinal cord and feedback network from musculoskeletal system. A one layer feedforward neural network that its inputs are the scaled joint variables and the touch sensors...
Neural control of a fully actuated biped robot
, Article 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 17 December 2006 through 20 December 2006 ; 2006 , Pages 1299-1304 ; 1424405718 (ISBN); 9781424405718 (ISBN) ; Hamed, K. A ; Sharif University of Technology
2006
Abstract
According to the fact that humans and animals show marvelous abilities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground and it can easily rotate about the toe or the heel, the problem of controlling the biped robots is difficult. In this paper, according to the adaptive locomotion patterns of animals, coordination and control of body links have been done with Central Pattern Generator (CPG) in spinal cord and feedback network from musculoskeletal system. A one layer feedforward neural network that its inputs are the scaled joint variables and the touch sensors...
Neural control of an underactuated biped robot
, Article 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, Genoa, 4 December 2006 through 6 December 2006 ; 2006 , Pages 593-598 ; 142440200X (ISBN); 9781424402007 (ISBN) ; Hamed, K. A ; Sharif University of Technology
2006
Abstract
According to the fact that humans and animals show marvelous capacities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground, the problem of controlling the biped robots is difficult. In other words, the biped walkers have fewer actuators than the degrees of freedom. So they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker having point feet is investigated by central pattern generators. For tuning the parameters of the CPG, an effective energy based...