Title :
Robust control of a humanoid robot using a bio-inspired approach based on central pattern generators, reflexes, and proprioceptive feedback
Author :
Bartsch, Sebastian ; Kirchner, Frank
Author_Institution :
Dept. of Math. & Comput. Sci., Bremen Univ., Bremen
Abstract :
This paper presents a biologically inspired control approach for the locomotion of humanoid robots based on a central pattern generator concept with additional balancing behavior which was tested on BIN-HUR, a modified Kondo KHR-1 robot equipped with a custom-made micro-controller board. The software concept is built up on a new behavior-based microkernel named Monster.
Keywords :
feedback; humanoid robots; legged locomotion; robust control; bio-inspired approach; central pattern generator; humanoid robot locomotion; proprioceptive feedback; robust control; Feedback; Frequency; Humanoid robots; Intelligent sensors; Leg; Legged locomotion; Pulse width modulation; Robust control; Servomechanisms; Test pattern generators;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340174
