Abstract
Designing a network of oscillators that controls the locomotion of a legged robot can be thought as a complex problem hard to solve. This paper, therefore, attempts towards simplifying the design method of the locomotion controller by combining a linear piece wise liner oscillator (PWL) and the Van der Pol oscillator (VDP). The VDP oscillator will be considered as a master oscillator as it will generate the rolling motion pattern. The pitching and swing motion will be generated by the PWL. The selection of the oscillator type is made based on our previous result on motion pattern generator using piecewise linear functions. The VDP oscillator is selected to have a stable limit cycle close to the one obtained in our previous results. The robustness of the locomotion controller will be analyzed by introducing a small perturbation to the oscillator's equation. By changing randomly the perturbation parameter within limited interval results into a 'fluid motion' of the robot. In addition, the locomotion controller will be designed as a neural network that will be coupled to the robot dynamics through sensory system containing proportional derivative controllers to exhibit natural looking motion.
| Original language | English |
|---|---|
| Title of host publication | 2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 - Hammamet, Tunisia Duration: Mar 18 2013 → Mar 21 2013 |
Other
| Other | 2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 |
|---|---|
| Country | Tunisia |
| City | Hammamet |
| Period | 3/18/13 → 3/21/13 |
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Keywords
- Central Pattern Generator CPG
- Humanoid
- Limit cycle
- Piecewise Linear Oscillator
- Van der Pol Oscillator
ASJC Scopus subject areas
- Signal Processing
Cite this
Design of locomotion controller and reflex for humanoid robot. / Zaier, Riadh.
2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013. 2013. 6564136.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design of locomotion controller and reflex for humanoid robot
AU - Zaier, Riadh
PY - 2013
Y1 - 2013
N2 - Designing a network of oscillators that controls the locomotion of a legged robot can be thought as a complex problem hard to solve. This paper, therefore, attempts towards simplifying the design method of the locomotion controller by combining a linear piece wise liner oscillator (PWL) and the Van der Pol oscillator (VDP). The VDP oscillator will be considered as a master oscillator as it will generate the rolling motion pattern. The pitching and swing motion will be generated by the PWL. The selection of the oscillator type is made based on our previous result on motion pattern generator using piecewise linear functions. The VDP oscillator is selected to have a stable limit cycle close to the one obtained in our previous results. The robustness of the locomotion controller will be analyzed by introducing a small perturbation to the oscillator's equation. By changing randomly the perturbation parameter within limited interval results into a 'fluid motion' of the robot. In addition, the locomotion controller will be designed as a neural network that will be coupled to the robot dynamics through sensory system containing proportional derivative controllers to exhibit natural looking motion.
AB - Designing a network of oscillators that controls the locomotion of a legged robot can be thought as a complex problem hard to solve. This paper, therefore, attempts towards simplifying the design method of the locomotion controller by combining a linear piece wise liner oscillator (PWL) and the Van der Pol oscillator (VDP). The VDP oscillator will be considered as a master oscillator as it will generate the rolling motion pattern. The pitching and swing motion will be generated by the PWL. The selection of the oscillator type is made based on our previous result on motion pattern generator using piecewise linear functions. The VDP oscillator is selected to have a stable limit cycle close to the one obtained in our previous results. The robustness of the locomotion controller will be analyzed by introducing a small perturbation to the oscillator's equation. By changing randomly the perturbation parameter within limited interval results into a 'fluid motion' of the robot. In addition, the locomotion controller will be designed as a neural network that will be coupled to the robot dynamics through sensory system containing proportional derivative controllers to exhibit natural looking motion.
KW - Central Pattern Generator CPG
KW - Humanoid
KW - Limit cycle
KW - Piecewise Linear Oscillator
KW - Van der Pol Oscillator
UR - http://www.scopus.com/inward/record.url?scp=84883105585&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883105585&partnerID=8YFLogxK
U2 - 10.1109/SSD.2013.6564136
DO - 10.1109/SSD.2013.6564136
M3 - Conference contribution
SN - 9781467364584
BT - 2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013
ER -