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

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

研究成果: Paper査読

18 被引用数 (Scopus)

抄録

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.

本文言語English
ページ2619-2624
ページ数6
出版ステータスPublished - 2002 1 1
外部発表はい
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9 302002 10 4

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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