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| Title: | Self-stabilizing bipedal locomotion employing neural oscillators |
| Authors: | Yang, Woosung
Chong, Nak Young
Ra, Syungkwon
Kim, Chang Hwan
You, Bum Jae |
| Issue Date: | 2008-12 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | 8th IEEE-RAS International Conference on Humanoid Robots, 2008. Humanoids 2008. |
| Start page: | 8 |
| End page: | 15 |
| DOI: | 10.1109/ICHR.2008.4755924 |
| Abstract: | For attaining a stable and robust dynamic bipedal locomotion, we address an efficient and powerful alternative based on biologically inspired control framework employing neural oscillators. Neural oscillators can be used to generate sustained rhythmic signals, and show superior features for stabilizing bipedal locomotion particularly when coupled with virtual impedance components. By building a network of neural oscillators, we can enable humanoid robots to walk stably and exhibit robustness against unexpected disturbances. Specifically, in order to maintain stability, the neural oscillator plays an important role by controlling the trajectory of the COM in phase with the ZMP input. The effectiveness of the proposed control scheme is verified through simulations. |
| Rights: | Copyright (C) 2008 IEEE. Reprinted from 8th IEEE-RAS International Conference on Humanoid Robots, 2008. Humanoids 2008., 8-15. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/8483 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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