Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-25T05:20:51.246Z Has data issue: false hasContentIssue false
  • English
  • Français

Biologically inspired motion synthesis method of two-legged robot with compliant feet*

Published online by Cambridge University Press:  13 April 2011

Teresa Zielinska  and
Andrzej Chmielniak
Teresa Zielinska*
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics (WUT–IAAM), ul. Nowowiejska 24, 00-665 Warsaw, Poland
Andrzej Chmielniak
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics (WUT–IAAM), ul. Nowowiejska 24, 00-665 Warsaw, Poland
*
†Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological central pattern generator. The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is the reference pattern. The features of generated gait are compared to the human walk. The spring-loaded foot design is presented together with experimental results.

Keywords

Biomimetic robotsBipedsControl of robotic systemsDesignLegged robots
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1049 - 1057
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

*

This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.

References

1.Bay, J. S. and Hemami, H., “Modeling of a neural pattern generator with coupled nonlinear oscillators,” IEEE Trans. Biomed. Eng. BME-34 (4), 297–306 (1987).CrossRefGoogle ScholarPubMed
2.Bernstein, N. A., The Coordination and Regulation of Movements (Pergamon, Great Britain, 1967).Google Scholar
3.Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., “The Development of Honda Humanoid Robot,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium (May 16–20, 1998) pp. 1321–1326.Google Scholar
4.Buchli, J., Righetti, L. and Ijspeert, A. J., “Engineering entrainment and adaptation in limit circle systems. From bilogical inspiration to application in robotics,” Biol. Cybern. 95, 645–664 (2006).CrossRefGoogle Scholar
5.Djoudi, D. and Chevallereau, C., “Feet Can Improve the Stability of a Control Law for Walking Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA (May 15–19, 2006) pp. 206–1212.Google Scholar
6.Geyer, H., Seyfarth, A. and Blickhan, R., “Compliant Leg Behavior Explains Basic Dynamics of Walking and Running,” Proceedings of the Royal Society, (2006) doi: 10.1098, published online.Google ScholarPubMed
7.Ijspeert, A. J., “Central pattern generators for locomotion control in animals and robots; a review,” Preprint of Neural Netw. 21 (4), 642–653 (2008).CrossRefGoogle ScholarPubMed
8.Jargillo, T., The Analysisis of Stiffness Influence on the Gait of Two-Legged Robot – in Polish M.Sc. Thesis (Warsaw, Warsaw University of Technology, 2009).Google Scholar
9.Matsuoka, K., “Sustained oscillations generated by mutually inhibiting neurons with adaptation,” Biol. Cybern. 52, 367–376 (1995).CrossRefGoogle Scholar
10.Nakanishi, J., Morimoto, J., Endo, G., Cheng, G., Schaal, S. and Kawato, M., “Learning from demonstration and adaptation of biped locomotion,” Robot. Auton. Syst. 47, 79–91 (2004).CrossRefGoogle Scholar
11.Ouezdou, F. B., Konno, A., Sellaouti, R., Gravez, F., Mohamed, B. and Bruneau, O., “ROBIAN Biped Project – A Tool for the Analysis of the Human-being Locomotion System,” Proceedings of the 5th IEEE International Conference on Climbing and Walking Robots (CLAWAR) (2002) pp. 212–300.Google Scholar
12.Vaughan, Ch. L., Davis, B. L. and O'Connor, J. C., Dynamics of Human Gait (Human Kinetics Publishers, 1992).Google Scholar
13.Thompson, G. M., Introduction to the Study of Human Walking, Kinesiology and Biomechanics (Department of Biostatistics and Epidemiology, University of Oklahoma Health Sciences Center, 2006).Google Scholar
14.Vanderbroght, B., Verrelst, B., Van Ham, R., Van Damme, M., Bey, P. and Lefeber, D., “Development of compliance controller to reduce energy consumption for bipedal robots,” Auton. Robots 24, 419–434 (2008).CrossRefGoogle Scholar
15.Ukobratovic, V. M. and Stepanenko, Yu., “On the stability of anthropomorphic systems,” Math. Biosci. 15, 1–37 (1972).CrossRefGoogle Scholar
16.Vukobratovic, M. and Borovac, B., “Zero-moment point - thirty five years of its life,” Int. J. Humanoid Robot. 1 (1), 157–173 (2004).CrossRefGoogle Scholar
17.Winter, D. A., Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological (University of Waterloo, 1991).Google Scholar
18.Zielinska, T., “Coupled oscillators utilized as gait rhythm generators of a two-legged walking machine,” Biol. Cybern. 74, 263–273 (1996).CrossRefGoogle ScholarPubMed
19.Zielinska, T., Chew, Ch. M., Kryczka, P. and Jargilo, T., “Robot gait synthesis using the scheme of human motion skills development,” Mech. Mach. Theory 44 (3), 541–558 (2009).CrossRefGoogle Scholar