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Bio-inspired controller achieving forward speed modulation with a 3D bipedal walker
| Content Provider | SAGE Publishing |
|---|---|
| Author | Nicolas Van der Noot Ijspeert, Auke Jan Ronsse, Renaud |
| Copyright Year | 2017 |
| Abstract | Despite all the effort devoted to generating locomotion algorithms for bipedal walkers, robots are still far from reaching the impressive human walking capabilities, for instance regarding robustness and energy consumption. In this paper, we have developed a bio-inspired torque-based controller supporting the emergence of a new generation of robust and energy-efficient walkers. It recruits virtual muscles driven by reflexes and a central pattern generator, and thus requires no computationally intensive inverse kinematics or dynamics modeling. This controller is capable of generating energy-efficient and human-like gaits (both regarding kinematics and dynamics) across a large range of forward speeds, in a 3D environment. After a single off-line optimization process, the forward speed can be continuously commanded within this range by changing high-level parameters, as linear or quadratic functions of the target speed. Sharp speed transitions can then be achieved with no additional tuning, resulting in immediate adaptations of the step length and frequency. In this paper, we particularly embodied this controller on a simulated version of COMAN, a 95 cm tall humanoid robot. We reached forward speed modulations between 0.4 and 0.9 m/s. This covers normal human walking speeds once scaled to the robot size. Finally, the walker demonstrated significant robustness against a large spectrum of unpredicted perturbations: facing external pushes or walking on altered environments, such as stairs, slopes, and irregular ground. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/0278364917743320?download=true |
| Starting Page | 168 |
| Ending Page | 196 |
| Page Count | 29 |
| ISSN | 02783649 |
| Issue Number | 1 |
| Volume Number | 37 |
| Journal | The International Journal of Robotics Research (IJR) |
| e-ISSN | 17413176 |
| DOI | 10.1177/0278364917743320 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2018-01-30 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2017 |
| Subject Keyword | biologically-inspired robots humanoid robots legged robots motion control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Applied Mathematics Artificial Intelligence Mechanical Engineering Electrical and Electronic Engineering Modeling and Simulation Software |
