Generation of an adaptive controller CPG for a quadruped robot with neuromodulation mechanism

Akinobu Fujii, Nobuhiro Saito, Kota Nakahira, Akio Ishiguro, Peter Eggenberger

Research output: Contribution to conferencePaper

18 Citations (Scopus)

Abstract

In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generators (CPG). In contrast to these approaches in which monolithic CPG circuits are employed to control locomotion, in this study a polymorphic neural circuit is employed instead, allowing the dynamic change of its properties according to the current situation in real time. To this end, the concept of neuromodulation has been introduced. To verify the feasibility of this approach, this concept has been applied to the control of a 3-D quadruped robot. Simulations have been carried out and the results have showed that the proposed method appropriately changes the walking pattern according to the current situation in real time.

Original languageEnglish
Pages2619-2624
Number of pages6
Publication statusPublished - 2002 Jan 1
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Fujii, A., Saito, N., Nakahira, K., Ishiguro, A., & Eggenberger, P. (2002). Generation of an adaptive controller CPG for a quadruped robot with neuromodulation mechanism. 2619-2624. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.