A New Approach to Design of CPG Model for Stable Humanoid Locomotion Using Neural Oscillators
Published: 2013
Author(s) Name: Rajeev Kumar |
Author(s) Affiliation: Assistant Professor, NIET, Greater Noida, Uttar Pradesh, India
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Abstract
In this paper, we propose a new model using central
pattern generators (CPG) for the stable motion of
Humanoid robot. After that we compare the proposed
model with the existing Taga’s model of humanoid
robot. The Matsuoka Neural Oscillators are used to
generate the required signals to realize the coordinated
movement of a musculoskeletal model of humanoid
robot with five links. The proposed design of the CPG
is verified through simulation.
Keywords: Biped Locomotion, Musculoskeletal system Central Pattern Generator (CPG), Matsuoka Neural Oscillator, Entrainment
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