Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We hypothesize that a similar mechanism may exist in biological systems. We applied the proposed biologically inspired control strategy to our newly developed human-sized humanoid robot computational brain (CB) and a small size humanoid robot, enabling them to generate successful stepping and walking patterns.
A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model
2020-05-07
Article (Journal)
Electronic Resource
English
Biologically Inspired Locomotion Control for Humanoid Robot HOAP-1
British Library Conference Proceedings | 2002
|Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S
Springer Verlag | 2003
|Biologically-inspired intelligent robots
NTRS | 2002
|