Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

Mohamed A. Sayari*, Neila Masmoudi, Riadh Zaier

*المؤلف المقابل لهذا العمل

نتاج البحث: Conference contribution

ملخص

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.

اللغة الأصليةEnglish
عنوان منشور المضيفDesign and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019
المحررونNizar Aifaoui, Zouhaier Affi, Abdelmajid Benamara, Mnaouar Chouchane, Mohamed Slim Abbes, Lassad Walha, Mohamed Haddar, Fakher Chaari, Lotfi Romdhane
ناشرSpringer Science and Business Media Deutschland GmbH
الصفحات910-918
عدد الصفحات9
رقم المعيار الدولي للكتب (المطبوع)9783030271459
المعرِّفات الرقمية للأشياء
حالة النشرPublished - 2020
الحدث8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019 - Hammamet, Tunisia
المدة: مارس ١٨ ٢٠١٩مارس ٢٠ ٢٠١٩

سلسلة المنشورات

الاسمLecture Notes in Mechanical Engineering
رقم المعيار الدولي للدوريات (المطبوع)2195-4356
رقم المعيار الدولي للدوريات (الإلكتروني)2195-4364

Conference

Conference8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019
الدولة/الإقليمTunisia
المدينةHammamet
المدة٣/١٨/١٩٣/٢٠/١٩

ASJC Scopus subject areas

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بصمة

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