TY - GEN
T1 - Bio-Inspired CPG Based Locomotion for Humanoid Robot Application
AU - Sayari, Mohamed A.
AU - Masmoudi, Neila
AU - Zaier, Riadh
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot’s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.
AB - Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot’s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.
KW - Biped locomotion
KW - Central pattern generator
KW - Zero moment point
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U2 - 10.1007/978-3-030-27146-6_98
DO - 10.1007/978-3-030-27146-6_98
M3 - Conference contribution
AN - SCOPUS:85083014068
SN - 9783030271459
T3 - Lecture Notes in Mechanical Engineering
SP - 910
EP - 918
BT - Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019
A2 - Aifaoui, Nizar
A2 - Affi, Zouhaier
A2 - Benamara, Abdelmajid
A2 - Chouchane, Mnaouar
A2 - Abbes, Mohamed Slim
A2 - Walha, Lassad
A2 - Haddar, Mohamed
A2 - Chaari, Fakher
A2 - Romdhane, Lotfi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -