Proceedings of the NATO advanced research workshop and EGS topical workshop on Chaotic advection, tracer dynamics and turbulent dispersion
The Handbook of Brain Theory and Neural Networks
The Handbook of Brain Theory and Neural Networks
A Control System for a Flexible Spine Belly-Dancing Humanoid
Artificial Life
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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Biped humanoid robots have gained much popularity in recent years. These robots are mainly controlled by two major control methods, the biologically-inspired approach based on Central Pattern Generator (CPG) and the engineering-oriented approach based on Zero Moment Point (ZMP). Given that flexibility in the body torso is required in some human activities, we believe that it is beneficial for the next generation of humanoid robots to have a flexible spine as humans do. In order to cope with the increased complexity in controlling this type of robot, a new kind of control system is necessary. Currently, there is no controller that allows a flexible spine humanoid robot to maintain stability in real-time while walking with dynamic spine motions. This paper presents a new hybrid CPG-ZMP control system for the walking of a realistically simulated flexible spine humanoid robot. Experimental results showed that using our control method, the robot is able to adapt its spine motions in real-time to allow stable walking. Our control system could be used for the control of the next generation humanoid robots.