InforLorV4, Main, Exploration, bibRecord, 000E36

Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

Identifieur interne : 000E36 ( Main/Exploration ); précédent : 000E35; suivant : 000E37

Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

Auteurs : John Nassour [Allemagne] ; Patrick Henaff [France] ; Fethi Benouezdou [France] ; Gordon Cheng [Allemagne]

Source :

Biological cybernetics [ 0340-1200 ] ; 2014.

RBID : Pascal:14-0172564

Descripteurs français

Pascal (Inist)
- Robot humanoïde, Robotique, Neurophysiologie, Commande multimodèle, Générateur forme, Système nerveux central, Rythme, Synchronisation, Contrôle moteur, Méthode adaptative, Modélisation, Moelle épinière, Marche à pied, Animal, Réseau neuronal, Oscillation, Modèle couche, ., Locomotion avec jambes.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Adaptive method, Animal, Central nervous system, Humanoid robot, Layer model, Legged locomotion, Modeling, Motor control, Multimodel control, Neural network, Neurophysiology, Oscillation, Pattern generator, Rhythm, Robotics, Spinal cord, Synchronization, Walking.

Abstract

In this paper, we present an extended mathematical model of the central pattern generator (CPG) in the spinal cord. The proposed CPG model is used as the underlying low-level controller of a humanoid robot to generate various walking patterns. Such biological mechanisms have been demonstrated to be robust in locomotion of animal. Our model is supported by two neurophysiological studies. The first study identified a neural circuitry consisting of a two-layered CPG, in which pattern formation and rhythm generation are produced at different levels. The second study focused on a specific neural model that can generate different patterns, including oscillation. This neural model was employed in the pattern generation layer of our CPG, which enables it to produce different motion patterns-rhythmic as well as non-rhythmic motions. Due to the pattern-formation layer, the CPG is able to produce behaviors related to the dominating rhythm (extension/flexion) and rhythm deletion without rhythm resetting. The proposed multi-layered multi-pattern CPG model (MLMP-CPG) has been deployed in a 3D humanoid robot (NAO) while it performs locomotion tasks. The effectiveness of our model is demonstrated in simulations and through experimental results.

Affiliations:

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Le document en format XML

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<front><div type="abstract" xml:lang="en">In this paper, we present an extended mathematical model of the central pattern generator (CPG) in the spinal cord. The proposed CPG model is used as the underlying low-level controller of a humanoid robot to generate various walking patterns. Such biological mechanisms have been demonstrated to be robust in locomotion of animal. Our model is supported by two neurophysiological studies. The first study identified a neural circuitry consisting of a two-layered CPG, in which pattern formation and rhythm generation are produced at different levels. The second study focused on a specific neural model that can generate different patterns, including oscillation. This neural model was employed in the pattern generation layer of our CPG, which enables it to produce different motion patterns-rhythmic as well as non-rhythmic motions. Due to the pattern-formation layer, the CPG is able to produce behaviors related to the dominating rhythm (extension/flexion) and rhythm deletion without rhythm resetting. The proposed multi-layered multi-pattern CPG model (MLMP-CPG) has been deployed in a 3D humanoid robot (NAO) while it performs locomotion tasks. The effectiveness of our model is demonstrated in simulations and through experimental results.</div>
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Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri