Contribution of stretch reflexes to locomotor control: a modeling study
Biological Cybernetics
Locomotion Control of a Biped Robot Using Nonlinear Oscillators
Autonomous Robots
Stumbling with optimal phase reset during gait can prevent a humanoid from falling
Biological Cybernetics
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Adaptive behavior in turning of an oscillator-driven biped robot
Autonomous Robots
Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot
International Journal of Robotics Research
Robotics and Autonomous Systems
Hi-index | 0.00 |
To investigate the adaptability of a biped robot controlled by nonlinear oscillators with phase resetting based on central pattern generators, we examined the walking behavior of a biped robot on a splitbelt treadmill that has two parallel belts controlled independently. In an experiment, we demonstrated the dynamic interactions among the robot mechanical system, the oscillator control system, and the environment. The robot produced stable walking on the splitbelt treadmill at various belt speeds without changing the control strategy and parameters, despite a large discrepancy between the belt speeds. This is due to modulation of the locomotor rhythm and its phase through the phase resetting mechanism, which induces the relative phase between leg movements to shift from antiphase, and causes the duty factors to be autonomously modulated depending on the speed discrepancy between the belts. Such shifts of the relative phase and modulations of the duty factors are observed during human splitbelt treadmill walking. Clarifying the mechanisms producing such adaptive splitbelt treadmill walking will lead to a better understanding of the phase resetting mechanism in the generation of adaptive locomotion in biological systems and consequently to a guiding principle for designing control systems for legged robots.