CPG model for autonomous decentralized multi-legged robot system—generation and transition of oscillation patterns and dynamics of oscillators

Inagaki, Shinkichi; Yuasa, Hideo; Arai, Tamio

doi:10.1016/s0921-8890(03)00067-8

Cited by 53 publications

(28 citation statements)

References 14 publications

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“…viewpoint, the decentralized behavior of creatures inspired the design of flexible and adaptive artificial systems (e.g., the decentralized control of multi-legged robots [8,19]). If we can design multiple robot systems (such as multiple mobile robots for navigation [2], soccer robots [6], multi-agent decision making [18], collision avoidance [1], pushing an object [22] and foraging [20]) which emulate such behaviors, we can expect several advantages:…”

mentioning

confidence: 99%

Cooperative Enclosing and Grasping of an Object by Decentralized Mobile Robots Using Local Observation

Kobayashi

Hosoe²

2011

Int J of Soc Robotics

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This paper discusses the design of a decentralized capturing behavior by multiple mobile robots. The design is based on a gradient descent method using local information. The task of capturing a target is divided into two subtasks; the enclosing subtask and the grasping subtask. An analysis of the convergence of the local control policy in the enclosing subtask is provided, while ensuring that the neighborhood relation of the robot system is preserved. In the grasping subtask, the force-closure condition in decentralized form is used to design a local objective function. A local estimation of the shape of the object is introduced so that each robot can decide how to move on the basis of only the available local information. The proposed local control policies were evaluated using simulations and the flexibility of the system was verified owing to the decentralized nature of the system. The enclosing subtask was implemented using multiple mobile robots with local observation from omnidirectional CCD cameras.

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mentioning

confidence: 99%

Cooperative Enclosing and Grasping of an Object by Decentralized Mobile Robots Using Local Observation

Kobayashi

Hosoe²

2011

Int J of Soc Robotics

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“…Central pattern generators modulate rhythmic patterns in response to sensory information, resulting in adaptive behaviors. Central pattern generators are widely modeled using nonlinear oscillators (Ijspeert 2008;Taga et al 1991;Taga 1995aTaga , 1995b, and based on such CPG models, a number of walking robots and their control systems have been developed, in particular, for quadruped robots (Fukuoka et al 2003;Kimura et al 2007;Tsujita et al 2001;Lewis and Bekey 2002), multi-legged robots (Inagaki et al 2003;Yano et al 2002), snake-like and salamander robots (Ijspeert et al 2007;Ijspeert 2008;Inoue et al 2004), and biped robots (Lewis et al 2003;Nakanishi et al 2004;Righetti and Ijspeert 2006).…”

Section: Introductionmentioning

confidence: 99%

Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot

Aoi

Tsuchiya

2010

Auton Robot

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We previously developed a locomotion control system for a biped robot using nonlinear oscillators and verified the performance of this system in order to establish adaptive walking through the interactions among the robot dynamics, the oscillator dynamics, and the environment. In order to clarify these mechanisms, we investigate the stability characteristics of walking using a five-link planar biped robot with a torso and knee joints that has an internal oscillator with a stable limit cycle to generate the joint motions. Herein we conduct numerical simulations and a stability analysis, where we analytically obtain approximate periodic solutions and examine local stability using a Poincaré map. These analyses reveal (1) stability characteristics due to locomotion speed, torso, and knee motion, (2) stability improvement due to the modulation of oscillator states based on phase resetting using foot-contact information, and (3) the optimal parameter in the oscillator dynamics for adequately exploiting the interactions among the robot dynamics, the oscillator dynamics, and the environment in order to increase walking stability. The results of the present study demonstrate the advantage and usefulness of locomotion control using oscillators through mutual interactions.

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“…CPGs modulate signal generation in response to sensory signals, resulting in adaptive motions. CPGs are widely modeled using nonlinear oscillators (Taga et al, 1991;Taga, 1995a,b), and based on such CPG models many walking robots and their control systems have been developed, in particular, for quadruped robots (Fukuoka et al, 2003;Lewis & Bekey, 2002;Tsujita et al, 2001), multi-legged robots (Akimoto et al, 1999;Inagaki et al, 2003), snake-like robots (Ijspeert et al, 2005;Inoue et al, 2004), and biped robots (Aoi & Tsuchiya, 2005;Aoi et al, 2004;Lewis et al, 2003;Nakanishi et al, 2004). This paper deals with the transition from quadrupedal to bipedal locomotion of a biped robot while walking.…”

Section: Introductionmentioning

confidence: 99%

Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot

Aoi¹,

Tsuchiya²

2007

Humanoid Robots: New Developments

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CPG model for autonomous decentralized multi-legged robot system—generation and transition of oscillation patterns and dynamics of oscillators

Cited by 53 publications

References 14 publications

Cooperative Enclosing and Grasping of an Object by Decentralized Mobile Robots Using Local Observation

Cooperative Enclosing and Grasping of an Object by Decentralized Mobile Robots Using Local Observation

Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot

Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot

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