Impulsive Torque Control of Biped Gait With Spiking-Oscillator-Controlled Power Packet Dispatching System

被引：1

作者：

Mochiyama, Shiu ^{[1
]}

Hikihara, Takashi ^{[1
]}

机构：

[1] Kyoto Univ, Dept Elect Engn, Kyoto, Japan

来源：

PROCEEDINGS OF 2021 IEEE 30TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2021年

基金：

日本科学技术振兴机构;

关键词：

Power packet; biped; spiking oscillator; impulsive control; ROUTER;

D O I：

10.1109/ISIE45552.2021.9576470

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents a biped gait control method based on impulsive actuation. For this purpose, we propose a novel approach based on integrated processing of power and information. That is, electric power used for actuation control also takes the role of information processing for gait pattern generation. This is realized by a combination of two concepts: power packetization and pattern generation with spiking oscillators. Exploiting the impulsive nature of the two, we establish an electrical power distribution system controlled by spiking oscillator. Numerical simulation with an example setup demonstrates a successful gait generation.

引用

页数：6

共 14 条

[11] Evolving a Sensory-Motor Interconnection Structure for Adaptive Biped Robot Locomotion [J].