Dynamics morphing from regulator to oscillator on bipedal control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A study of adaptive locomotive behaviors of a biped robot: patterns generation and classification
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
Application of the "Alliance algorithm" to energy constrained gait optimization
Robot Soccer World Cup XV
Construction of gait adaptation model in human splitbelt treadmill walking
Applied Bionics and Biomechanics
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Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We hypothesize that a similar mechanism may exist in biological systems. We applied the proposed biologically inspired control strategy to our newly developed human-sized humanoid robot computational brain (CB) and a small size humanoid robot, enabling them to generate successful stepping and walking patterns.