Generation of humanoid biped walking pattern using neural oscillatory network

Summary form only given. It has been demonstrated by experiments of physiology that most autonomic oscillatory activities of living organisms are generated by rhythmic activities of the corresponding neural systems, and several models of neural oscillatory networks have been suggested. This paper concentrates on constructing suitable neural oscillatory networks which can generate desirable walking patterns. It presents a walking pattern generation method for a humanoid biped walking robot, which has two knee joints, four hip joints and two arm joints. We propose several neuron-oscillator-networks having six or eight neurons respectively and are established in accordance to the mechanism of human walking to generate the walking patterns of six joints of leg in a 3D plane, six joints of body in a sagittal plane and eight joints of body in a 3D plane, respectively. It is shown by computer simulations that the proposed networks can successfully generate the desirable walking patterns.