BIOLOGICALLY INSPIRED MOTION SYNTHESIS METHOD OF TWO-LEGGED ROBOT

被引：0
|
作者：
Zielinska, T. [1 ]
Chmielniak, A. [1 ]
机构：
[1] Warsaw Univ Technol, Inst Aeronaut & Appl Mech, Ul Nowowiejska 24, PL-00665 Warsaw, Poland
来源：
MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES | 2010年
关键词：
Two-legged Robot; Motion Synthesis; Walking Machine;
D O I：
10.1142/9789814291279_0025
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological Central Pattern Generator (CPG). The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is the reference pattern. The features of generated gait are compared to the human walk. The formula suitable for real-time motion generation taking into account the positioning errors is given. The elaborated relations can be used as the basis for modifications to produce more complex motions.
引用
收藏
页码：181 / 188
页数：8
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