Rhythmic Locomotion Control of Humanoid Robot

Authors:
Carlos Antonio Acosta Calderon;Rajesh Elara Mohan;Changjiu Zhou
Affiliations:
Advanced Robotics and Intelligent Control Centre, School of Electrical and Electronic Engineering, Singapore Polytechnic, Singapore 139651;Advanced Robotics and Intelligent Control Centre, School of Electrical and Electronic Engineering, Singapore Polytechnic, Singapore 139651;Advanced Robotics and Intelligent Control Centre, School of Electrical and Electronic Engineering, Singapore Polytechnic, Singapore 139651
Venue:
MICAI '08 Proceedings of the 7th Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Year:
2008

Citing 2
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Dynamic balance of a biped robot using fuzzy reinforcement learning agents

Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
Robot arm control exploiting natural dynamics

Robot arm control exploiting natural dynamics

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Abstract

This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. The presented approach uses two reflexes to attain the stability in the sagittal and coronal planes. Results of the system on a simulated biped robot and a real robot show the feasibility of this approach.