Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking

Abstract

We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns.

Engineering entrainment and adaptation in limit cycle systems

“…It would of course be interesting to exploit such substrates for engineering applications. algorithmic dynamic algorithmic dynamic (Ermentrout & Kopell, 1994) R 1a (Williamson, 1998) R 1a R 1a (Matsuoka, 1985(Matsuoka, , 1987 R 1a (Schöner, Jiang, & Kelso, 1990) R 1a (Schöner & Kelso, 1988) R 1a (Endo et al, 2005) R 1a (Morimoto et al, 2006) R 1a (Righetti & Ijspeert, 2006a) R 1b (Taga, 1994(Taga, , 1995b(Taga, , 1995a R 1a (Buchli & Ijspeert, 2004a) R 1a (22, 2003 R 1a (Schöner & Santos, 2001;Santos, 2003Santos, , 2004 R 1a (Collins & Richmond, 1994) R 1a (Ijspeert, 2001) R 1a/2 (Zegers & Sundareshan, 2003) R 2b (Okada, Tatani, & Nakamura, 2002;Okada, Nakamura, & Nakamura, 2003) R 2a (Ijspeert, Nakanishi, & Schaal, 2002) R 2b (Ruiz, Owens, & Townley, 1998) R 2 (Galicki, Leistritz, & Witte, 1999;Leistritz, Galicki, Witte, & Kochs, 2002) R 2 (Righetti & Ijspeert, 2006b) R 1a/2b (Marbach & Ijspeert, 2005) A 1a (Nishii, 1999) A 1c/1a (Ermentrout, 1991) A 1c (Large, 1994(Large, , 1996 A 1a 1c (Buchli & Ijspeert, 2004b;Righetti, Buchli, & Ijspeert, 2006;Buchli, Righetti, & Ijspeert, 2005;Buchli et al, 2006) A 1c Table 3 Table classifying …”

Direct programming of a central pattern generator for periodic motions by touching

“…Many alternatives are available in the choice of the type of the kind of oscillator/neurons employed for the realization of the CPG, for instance sinusoidal [5], Hopf or adaptive frequency Hopf oscillator [6], Rayleigh [7], Van Der Pol [18], FitzHugh-Nagumo [3], Hopfield [19], Hopfield with synaptic depression [20] or Matsuoka's [21].…”

“…(1) chain [22,9,23,24], used mainly for snake robots (2) star [25,26,5,27,28], that is a "pacemaker"/ "clock" oscillator which provides a synchronizing signal to the other oscillators (3) tree [29][30][31], where essentially the oscillators are connected as a tree, from proximal to distal joints (4) connection between homologous joints [32][33][34][35][36][37][38][39][40], i.e. joints with a similar function (5) full connection between the oscillators [41][42][43] Our purpose is to let the user modify the behavior of the robot by changing (through touching) the oscillator parameters.…”

“…Living beings and robots have very different physical properties, for instance, while the former are powered by elastic pairs of antagonistic muscles, the latter usually consists of chains of rigid links and joints. However, systems similar to animal CPGs, often realized as weakly coupled oscillators, have been proposed for the control of many kinds of robots, such as hexapods [1], quadrupeds [2,3], bipeds [4][5][6][7], snake robots [8], etc. CPGs offer several advantages in terms of simplicity and the ease with which sensory feedback can be introduces [9] as well as in the adaptability and robustness [10] of the system.…”

CPG-based control of a turtle-like underwater vehicle

“…Some [7], [8] use feedback from sensors to adapt phase of the governing oscillators while others [9], [10], [11] without the feedback from sensors to the oscillators, depending on the complexity of the application.…”