NDLI: CPG Based Controller for a 5-Link Planar Biped Robot

Content Provider	IEEE Xplore Digital Library
Author	Sadati, N. Hamed, K.
Copyright Year	2007
Description	Author affiliation: Sharif Univ. of Technol., Tehran (Sadati, N.; Hamed, K.)
Abstract	The canonical problems in control of the biped robots arise from underactuation, impulsive nature of the impact with the environment and existence of the many degrees of freedom in their mechanism. Since biped walkers have fewer actuators than degrees of freedom, they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker with point feet is done by central pattern generator (CPG) and feedback networks. For tuning the parameters of the CPG network, the control problem is defined as an optimization problem. This optimization problem is solved by using of genetic algorithm. Also a new feedback structure is proposed for the biped walker. This feedback network can overcome the difficulty of the coordination of the knee and the hip joints. Also PI controllers are used as servo controllers. Finally, the effectiveness of the proposed methods is confirmed by simulation results.
Starting Page	1
Ending Page	6
File Size	6043932
Page Count	6
File Format	PDF
ISBN	1424411831
DOI	10.1109/ICMECH.2007.4280020
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-05-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback Robot kinematics Actuators Mechanical systems Humans Animals Stability Genetic algorithms Knee Hip Underactuation Biped robots Central pattern generator Feedback network Genetic algorithm
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in