DocumentCode :
589289
Title :
CPG and Reflexes Combined Adaptive Walking Control for AIBO
Author :
Xianchao Zhao ; Jiaqi Zhang ; Chenkun Qi
Author_Institution :
Sch. of Mech. Eng., Shanghai Jiao Tong Univ., Shanghai, China
Volume :
1
fYear :
2012
fDate :
12-15 Dec. 2012
Firstpage :
448
Lastpage :
453
Abstract :
From basic neuro-physiological evidences, it is now generally accepted that animals´ walking control is subject to the combination function of central pattern generator(CPG) located at the spinal cords and reflexes from the peripheral stimulus. Since phase oscillators have the advantage of mathematical tractability, it´s convenient to adjust the phase relationship between them. In this paper, coupled phase oscillators were designed to simulate CPG´s behavior and establish vestibular reflex with feedbacks from accelerator sensors. Afterward, the synchronization condition of this proposed CPG model was studied. Forward and backward walking, gait transfers between trot and walk were realized as well. With feedbacks, AIBO detected uphill and downhill terrain and changed its posture automatically to fit for the new environment. Simulations were done in Webots to verify this method.
Keywords :
accelerometers; computer graphics; digital simulation; feedback; gait analysis; legged locomotion; neuromuscular stimulation; synchronisation; AIBO; CPG model; Webots; accelerator sensors; animals walking control; backward walking; central pattern generator; combined adaptive walking control; coupled phase oscillator design; downhill terrain; feedbacks; forward walking; gait transfers; mathematical tractability; neuro-physiological evidences; peripheral stimulus; phase relationship adjustment; spinal cords; synchronization condition; uphill terrain; vestibular reflex; Joints; Knee; Legged locomotion; Oscillators; Sensors; Trajectory; AIBO; CPG; Phase oscillator; Reflexes; walking control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Machine Learning and Applications (ICMLA), 2012 11th International Conference on
Conference_Location :
Boca Raton, FL
Print_ISBN :
978-1-4673-4651-1
Type :
conf
DOI :
10.1109/ICMLA.2012.81
Filename :
6406704
Link To Document :
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