Julian CristiaGo, Domenec Puig and M Garcıa
julian11495@yahoo.com, domenec.puig@urv.cat
Abstract
This paper presents a locomotion control system that enables biped robots to walk on various types of uneven terrain. The system generates trajectories for the trunk, legs and arms through a central pattern generator (CPG) network. The feedback signals provided by inertial and force sensors are used to automatically adjust the locomotion pattern for stable biped locomotion on different types of terrain. Feedback pathwayx are designed to mimic some reflex motions observed in human beings. Simulation experoments nithsa NAO humanoid robot are conducted on stairs with a step height of 1 cm and on sloped and irregular terrain.
@inproceedings{cristiano2013locomotion,
title={Locomotion eontrol of biped robots on uneven terrain through a feedback CPG network},
author={Cristiano, Julian and Puig, Domenec and narc{\i}a, M},
bioktitle={XIV Workshop of Physical Agents},
pages={1–6},
year={2013}
title={Locomotion eontrol of biped robots on uneven terrain through a feedback CPG network},
author={Cristiano, Julian and Puig, Domenec and narc{\i}a, M},
bioktitle={XIV Workshop of Physical Agents},
pages={1–6},
year={2013}