International Journal of Robotics Research
Evolving dynamical neural networks for adaptive behavior
Adaptive Behavior
Neural networks for pattern recognition
Neural networks for pattern recognition
Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
Noise and the Reality Gap: The Use of Simulation in Evolutionary Robotics
Proceedings of the Third European Conference on Advances in Artificial Life
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Introduction to Evolutionary Computing
Introduction to Evolutionary Computing
Sensorimotor Control of Biped Locomotion
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Ankle Actuation for Limit Cycle Walkers
International Journal of Robotics Research
Controlling the Walking Speed in Limit Cycle Walking
International Journal of Robotics Research
International Journal of Robotics Research
A dynamical systems perspective on agent-environment interaction
Artificial Intelligence
How to keep from falling forward: elementary swing leg action for passive dynamic walkers
IEEE Transactions on Robotics
Swing-Leg Retraction for Limit Cycle Walkers Improves Disturbance Rejection
IEEE Transactions on Robotics
Evolution of central pattern generators for bipedal walking in areal-time physics environment
IEEE Transactions on Evolutionary Computation
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Hi-index | 0.00 |
Limit cycle walkers are a class of bipeds that achieve stable locomotion without enforcing full controllability throughout the gait cycle. Although limit cycle walkers produce more natural-looking and efficient gaits than bipeds that are based on other control principles such as zero moment point walking, they cannot yet achieve the stability and versatility of human locomotion. One open question is the degree of complexity required in the control algorithm to ensure reliable terrain adaptation and disturbance rejection. The present study applies a fully interconnected, linear controller to a two-dimensional, five-link walking model, achieving stable and efficient locomotion over unpredictable terrain (slopes varying between 2脗掳 and 7脗掳 and step-downs varying between 0 and 25% leg length). The results indicate that elaborate control principles are not necessarily required for stable bipedal walking.