CPG-based control of bipedal walking by exploiting plantar sensation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The plantar area of the human foot is larger than that of the quadruped foot, and it contains a large number of sensory organs. Thus, such a foot structure plays a crucial role in extracting “rich” sensory information for the generation of adaptive walking in humans. Here, we propose novel central pattern generator (CPG)-based control of a bipedal walking robot by exploiting plantar sensation. To effectively exploit plantar sensory information, we redesign the local sensory feedback to the CPG model that we previously proposed for quadruped robots. The simulation results indicate that the biped model exhibits a remarkably robust walking ability by exploiting the plantar sensation according to the current walking motion.

Original languageEnglish
Title of host publicationMobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages335-342
Number of pages8
ISBN (Print)9789814623346
Publication statusPublished - 2014
Event17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014 - Poznan, Poland
Duration: 2014 Jul 212014 Jul 23

Other

Other17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014
CountryPoland
CityPoznan
Period14/7/2114/7/23

Keywords

  • Bipedal robot
  • CPG
  • Plantar sensation

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

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