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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9546

Title: Adaptive CPG Based Coordinated Control of Healthy and Robotic Lower Limb Movements
Authors: Ryu, Jae-Kwan
Chong, Nak Young
You, Bum Jae
Christensen, Henrik
Keywords: CPG
Adaptive neural oscillator
Impulse absorption
Issue Date: 2009-09
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009.
Start page: 122
End page: 127
DOI: 10.1109/ROMAN.2009.5326045
Abstract: This paper proposes an adaptive CPG based controller for a lower limb prosthesis consisting of online trajectory generation and interlimb coordination. The adaptive CPG can produce multidimensional rhythmic patterns and modulate their frequency by tuning relevant parameters in an autonomously way adapting to a changing periodicity ofexternal signals. Also, to increase the stability of the prosthesis, a spring-damper component is attached between the hip and ankle joints, allowing the absorption of impulsive ground reaction forces at landing. We verify the validity of the proposed controller with a simulated humanoid robot through the investigation of the self-coordination between the healthy and robotic legs.
Rights: Copyright (C) 2009 IEEE. Reprinted from The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009., 2009, 122-127. 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/10119/9546
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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