Bipedal Robot running: human-like actuation timing using fast and slow adaptations

被引:1
作者
Sakurai, Yusuke [1 ]
Kamimura, Tomoya [1 ]
Sakamoto, Yuki [1 ]
Nishii, Shohei [1 ]
Sato, Kodai [1 ]
Fujiwara, Yuta [1 ]
Sano, Akihito [1 ]
机构
[1] Nagoya Inst Technol, Dept Elect & Mech Engn, Nagoya, Japan
关键词
Humanoid and bipedal locomotion; modeling and simulating humans; passive walking; CPG; WALKING MODEL-DRIVEN; LOCOMOTION; STABILITY; GAIT; GENERATION;
D O I
10.1080/01691864.2024.2336255
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such characteristics should be reproduced to yield the desired effect, In this study, we designed a central pattern generator (CPG) involving fast and slow adaptation to achieve human-like running using a simple spring-mass model and our developed bipedal robot, which is equipped with actuators that imitate the human musculoskeletal system. Our results demonstrate that the CPG-based controller with fast and slow adaptations, and an adjustable actuator control timing can reproduce human-like running. The results suggest that the CPG contributes to the adjustment of the muscle activation timing in human running. {GRAPHICAL ABSTRACT}
引用
收藏
页码:561 / 572
页数:12
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