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http://dx.doi.org/10.5370/KIEE.2014.63.5.683

CPG-based Adaptive Walking for Humanoid Robots Combining Feedback  

Lee, Jaemin (Dept. of Electronics Engineering, Seokyeong University)
Seo, Kisung (Dept. of Electronics Engineering, Seokyeong University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.5, 2014 , pp. 683-689 More about this Journal
Abstract
The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.
Keywords
CPG(Central Pattern Generation); Foot trajectory; Adaptive walking; Feedback network; Humanoid nao;
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Times Cited By KSCI : 2  (Citation Analysis)
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