An environmental adaptation mechanism for a biped walking robot control based on elicitation of sensorimotor constraints

Authors:
Shunsuke Iida;Toshiyuki Kondo;Koji Ito
Affiliations:
Dept of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan;Dept of Computer, Information and Communication Sciences, Tokyo University of Agriculture and Technology, Tokyo, Japan;Dept of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Yokohama, Japan
Venue:
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Year:
2006

Citing 2
Cited 3

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Abstract

This paper proposes an environmental adaptation mechanism for a biped walking robot control on up/down slopes In order to cope with a variety of environments, the proposed locomotion control system has dual adaptation loops The first adaptation loop is a phase entrainment attribute of coupled nonlinear oscillators that directly encode the locomotion cycle, and it corresponds to a kind of feedback adaptation against perturbative changes In contrast, the second one is elicitation of sensorimotor constraints, that is kinematic parameters constrain limbs trajectories (e.g length of stride) according to the environmental state Thus it can be considered as a kind of feedforward adaptation In this paper, the validity of the proposed adaptation mechanisms can be evaluated through a physical simulations of a biped walking robot.