NDLI: Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting

Content Provider	IEEE Xplore Digital Library
Author	Aoi, S. Fujiki, S. Yamashita, T. Kohda, T. Senda, K. Tsuchiya, K.
Copyright Year	2011
Description	Author affiliation: Dept. of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, 606-8501, Japan (Aoi, S.; Fujiki, S.; Yamashita, T.; Kohda, T.; Senda, K.) \|\| Dept. of Energy and Mechanical Engineering, Faculty of Science and Engineering, Doshisha University, 1-3 Tatara, Miyakodani, Kyotanabe, Kyoto 610-0394, Japan (Tsuchiya, K.)
Abstract	In this paper, we investigate the locomotor behaviors of a biped robot on a splitbelt treadmill using a locomotion-control system composed of nonlinear oscillators with phase resetting. Our results show that the robot establishes stable walking on the treadmill at various speeds of the belts due to modulation of the rhythm and phase by phase resetting. In addition, the phase differences between the leg movements shifted from out of phase, and duty factors were autonomously modulated depending on the speed discrepancy between the belts occurring through dynamic interactions among the robot's mechanical system, the oscillator control system, and the environment. Such shifts of phase differences between the leg movements and modulations of duty factors are observed during human splitbelt treadmill walking, and our results suggest that our dynamic model using the robot and oscillator control system reflects a certain essence of the ability to produce adaptive locomotor behaviors.
Starting Page	2274
Ending Page	2279
File Size	200124
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094583
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Oscillators Joints Belts Robot kinematics Rhythm
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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