CPG Control for Biped Hopping Robot in Unpredictable Environment

Journal of Bionic Engineering

Volumn 9, Issue 1, 2012, Pages 29-38

  Wang, Tingting ^a   Guo, Wei ^a   Li, Mantian ^a   Zha, Fusheng ^a   Sun, Lining ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

Bionic control; Biped robot; CPG; Hopping motion control; Unpredictable environment

Indexed keywords

ADAPTIVE MOTION; BIPED ROBOT; CONTROL MECHANISM; CPG; ENVIRONMENT CHANGE; FEED BACK INFORMATION; HOPPING MOTIONS; HOPPING ROBOTS; MOTION SEQUENCES; OUTPUT FORCE; REAL TIME; ROBOT JOINT; ROBOT MOTION; SIMULATION PLATFORM; UNPREDICTABLE ENVIRONMENT;

FEEDBACK; INDUSTRIAL ROBOTS; NEURONS;

MOTION CONTROL;

EID: 84862920189     PISSN: 16726529     EISSN: None     Source Type: Journal    
DOI: 10.1016/S1672-6529(11)60094-2     Document Type: Article

References (19)

1. Mardera E, Buchera D Central pattern generators and the control of rhythmic movements. Current Biology 2001, 11:986-996.
2. Grillner S Biological pattern generation: The cellular and computational logic of networks in motion. Neuron 2006, 52:751-766.
3. Kimura H, Tsuchiya K, Ishiguro A, Witte H. Adaptive Motion of Animals and Machines, Springer, Tokyo, 2006.
4. Lewis M A, Tenore F, Etienne-Cummings R. CPG design using inhibitory networks. IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, 3682-3687.
5. Kimura H, Fukuoka Y, Cohen AH Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. Journal of Robotics Research 2007, 26:475-490.
6. Fukuoka Y, Kimura H, Hada Y Adaptive dynamic walking of a quadruped robot tekken on irregular terrain using a neural system model. Robotics and Automation 2003, 9:2037-2042.
7. Ijspeert AJ A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics 2001, 84:331-348.
8. Taga G, Yamaguehi Y, Shimizu H Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Biological Cybernetics 1991, 65:147-159.
9. Nishii J An adaptive control model of a locomotion by the central pattern generator. Lecture Notes in Computer Science 1995, 930:151-157.
10. Nishii J A learning model of a periodic locomotor pattern by the central pattern generator. Adaptive Behavior 1999, 7:137-149.
11. Rutishauser S, Sprowitz A, Righetti L, Ijspeert A J. Passive compliant quadruped robot using Central Pattern Generators for locomotion control. 2nd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, Arizona, USA, 2008, 710-715.
12. Kassim A B M, Yasuno T. Moving control of quadruped hopping robot using adaptive CPG networks. IEEE Conference on Robotics Automation and Mechatronics, Singapore, 2010, 581-588.
13. Ijspeert AJ Central pattern generators for locomotion control in animals and robots: A review. Neural Networks 2008, 21:642-653.
14. Grillner S Biological pattern generation: The cellular and computational logic of networks in motion. Neuron 2006, 52:751-766.
15. Graham Brown TG On the fundamental activity of the nervous centers: Together with an analysis of the conditioning of rhythmic activity in progression, and a theory of the evolution of function in the nervous system. The Journal of Physiology 1914, 48:18-41.
16. McCrea DA, Rybak IA Organization of mammalian locomotor rhythm and pattern generation. Brain Research Reviews 2008, 57:134-146.
17. Gallagher J, Beer R, Espenschied K, Quinn R Application of evolved locomotion controllers to a hexapod robot. Robotics and Autonomous Systems 1996, 19:95-103.
18. Beer R, Chiel H A distributed neural network for hexapod robot locomotion. Neural Computation 1992, 4:356-365.
19. Raibert MH, Brown HB, Chepponis M Experiments in balance with a 3D one-legged hopping machine. Robotics Research 1984, 3:75-92.