Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion

Dai Owaki; Takeshi Kano; Atsushi Tero; Masakazu Akiyama; Akio Ishiguro

doi:10.1007/978-3-642-33932-5_45

Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion

Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyama, Akio Ishiguro

Division of Applied Mathematics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a "minimalist" bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion.

Original language	English
Title of host publication	Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
Publisher	Springer Verlag
Pages	493-502
Number of pages	10
Edition	VOL. 2
ISBN (Print)	9783642339318
DOIs	https://doi.org/10.1007/978-3-642-33932-5_45
Publication status	Published - Jan 1 2013
Event	12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of Duration: Jun 26 2012 → Jun 29 2012

Publication series

Name	Advances in Intelligent Systems and Computing
Number	VOL. 2
Volume	194 AISC
ISSN (Print)	2194-5357

Other

Other	12th International Conference on Intelligent Autonomous Systems, IAS 2012
Country/Territory	Korea, Republic of
City	Jeju Island
Period	6/26/12 → 6/29/12

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science(all)

Access to Document

10.1007/978-3-642-33932-5_45

Cite this

Owaki, D., Kano, T., Tero, A., Akiyama, M., & Ishiguro, A. (2013). Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012 (VOL. 2 ed., pp. 493-502). (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2). Springer Verlag. https://doi.org/10.1007/978-3-642-33932-5_45

Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. / Owaki, Dai; Kano, Takeshi; Tero, Atsushi et al.
Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2. ed. Springer Verlag, 2013. p. 493-502 (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Owaki, D, Kano, T, Tero, A, Akiyama, M & Ishiguro, A 2013, Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. in Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2 edn, Advances in Intelligent Systems and Computing, no. VOL. 2, vol. 194 AISC, Springer Verlag, pp. 493-502, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Republic of, 6/26/12. https://doi.org/10.1007/978-3-642-33932-5_45

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Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion

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