A central pattern generator approach to footstep transition for biped navigation. (21st February 2017)
- Record Type:
- Journal Article
- Title:
- A central pattern generator approach to footstep transition for biped navigation. (21st February 2017)
- Main Title:
- A central pattern generator approach to footstep transition for biped navigation
- Authors:
- Xia, Zeyang
Deng, Hao
Zhang, Xue
Weng, Shaokui
Gan, Yangzhou
Xiong, Jing - Abstract:
- Existing sampling-based footstep planning method for biped navigation used an intermediate static posture for footstep transition. However, when adopting this approach, the robot is sensitive to modeling error and external environments, and also the transition between different gait patterns is unnatural. This article presents a central pattern generator approach to footstep transition for biped navigation. First, this approach decomposes the biped walking motion into five motion types and designs central pattern generator network for all joints of legs accordingly. Then, the central pattern generator parameters are simplified and the relationship between these parameters and footstep transition is formulated. By modifying the central pattern generator parameters, different walking gaits can be obtained. With sensing feedbacks, self-adaption walking on irregular terrains, such as walking on unknown sloped terrains and flat floor with tiny obstacles, is realized. Experiments were conducted both in simulator and on a physical biped robot. Results have shown that the proposed approach is able to generate gesture transition trajectory for biped robot navigation and realize a self-adaption walking for irregular terrains.
- Is Part Of:
- International journal of advanced robotic systems. Volume 14:Number 1(2017:Jan./Feb.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 14:Number 1(2017:Jan./Feb.)
- Issue Display:
- Volume 14, Issue 1 (2017)
- Year:
- 2017
- Volume:
- 14
- Issue:
- 1
- Issue Sort Value:
- 2017-0014-0001-0000
- Page Start:
- Page End:
- Publication Date:
- 2017-02-21
- Subjects:
- Biped walking -- footstep planning -- central pattern generator -- environment learning -- self-adaption
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881416682708 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 7254.xml