NDLI: Survey of locomotion control of legged robots inspired by biological concept

Content Provider	Springer Nature Link
Author	Wu, QiDi Liu, ChengJu Zhang, JiaQi Chen, QiJun
Copyright Year	2009
Abstract	Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the gaits have to be designed, and the adaptability to an unknown environment cannot be guaranteed. From another aspect, studying and simulating animals’ walking mechanism for engineering application is an efficient way to break the bottleneck of locomotion control for legged robots. This has attracted more and more attentions. Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope. In this paper, we will review the biological mechanism, the existence evidences, and the network properties of CPG. From the engineering perspective, we will introduce the engineering simulation of CPG, the property analysis, and the research progress of CPG inspired control method in locomotion control of legged robots. Then, in our research, we will further discuss on existing problems, hot issues, and future research directions in this field.
Starting Page	1715
Ending Page	1729
Page Count	15
File Format	PDF
ISSN	10092757
Journal	Science in China Series : Information Sciences
Volume Number	52
Issue Number	10
e-ISSN	18622836
Language	English
Publisher	SP Science in China Press
Publisher Date	2009-10-06
Publisher Place	Heidelberg
Access Restriction	Subscribed
Subject Keyword	biological inspired control central pattern generator (CPG) locomotion control Information Systems and Communication Service
Content Type	Text
Resource Type	Article
Subject	Computer Science

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

CPG-Inspired Workspace Trajectory Generation and Adaptive Locomotion Control for Quadruped Robots

Central Pattern Generator Inspired Control for Adaptive Walking of Biped Robots

CPG Design using Inhibitory Networks

Locomotion control of quadruped robots based on central pattern generators

Bio-inspired Center Pattern Generator based control models

A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model

Gaits-transferable CPG controller for a snake-like robot

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO

An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback

Survey of locomotion control of legged robots inspired by biological concept

Similar Documents

CPG-Inspired Workspace Trajectory Generation and Adaptive Locomotion Control for Quadruped Robots

Central Pattern Generator Inspired Control for Adaptive Walking of Biped Robots

CPG Design using Inhibitory Networks

Locomotion control of quadruped robots based on central pattern generators

Bio-inspired Center Pattern Generator based control models

A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model

Gaits-transferable CPG controller for a snake-like robot

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO

An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback

Survey of locomotion control of legged robots inspired by biological concept