Modeling of a bipedal robot using mutually coupled Rayleigh oscillators

被引：41

作者：

de Pina, AC ^{[1
]}

Dutra, MS ^{[1
]}

Raptopoulos, LSC ^{[1
]}

机构：

[1] Univ Fed Rio de Janeiro, COPPE, Mech Engn Program, BR-21945970 Rio De Janeiro, Brazil

来源：

BIOLOGICAL CYBERNETICS | 2005年 / 92卷 / 01期

关键词：

D O I：

10.1007/s00422-004-0531-1

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The objective of the work presented here was the modeling of a bipedal robot using a central pattern generator (CPG) formed by a set of mutually coupled Rayleigh oscillators. We analyzed a 2D model, with the three most important determinants of gait, that performs only motions parallel to the sagittal plane. Using oscillators with integer relation of frequency, we determined the transient motion and the stable limit cycles of the network formed by the three oscillators, showing the behavior of the knee angles and the hip angle. A comparison of the plotted graphs revealed that the system provided excellent results when compared to experimental analysis. Based on the results of the study, we come to the conclusion that the use of mutually coupled Rayleigh oscillators can represent an excellent method of signal generation, allowing their application for feedback control of a walking machine.

引用

页码：1 / 7

页数：7

共 25 条

[1]

ANGELES J, 1994, CISM LECT NOTES

[2] MODELING OF A NEURAL PATTERN GENERATOR WITH COUPLED NONLINEAR OSCILLATORS [J].

BAY, JS ;

HEMAMI, H .

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1987, 34 (04) :297-306

[3]

BRAUNE W, 1987, HUMAN GAIT, P1895

[4] INVOLUNTARY STEPPING AFTER CHRONIC SPINAL-CORD INJURY - EVIDENCE FOR A CENTRAL RHYTHM GENERATOR FOR LOCOMOTION IN MAN [J].

CALANCIE, B ;

NEEDHAMSHROPSHIRE, B ;

JACOBS, P ;

WILLER, K ;

ZYCH, G ;

GREEN, BA .

BRAIN, 1994, 117 :1143-1159

[5]

COLLINS JJ, 1994, BIOL CYBERN, V71, P375, DOI 10.1007/BF00198915

[6] HEXAPODAL GAITS AND COUPLED NONLINEAR OSCILLATOR MODELS [J].

COLLINS, JJ ;

STEWART, I .

BIOLOGICAL CYBERNETICS, 1993, 68 (04) :287-298

[7]

DEPINA AC, 2004, STUDY MUTUALLY COUPL

[8] Evidence for a spinal central pattern generator in humans [J].

Dimitrijevic, MR ;

Gerasimenko, Y ;

Pinter, MM .

NEURONAL MECHANISMS FOR GENERATING LOCOMOTOR ACTIVITY, 1998, 860 :360-376

[9]

Dutra M.S., 1997, INT J INTELL MECHATR, V2, P88

[10] Modeling of a bipedal locomotor using coupled nonlinear oscillators of Van der Pol [J].

Dutra, MS ;

Pina, ACD ;

Romano, VF .

BIOLOGICAL CYBERNETICS, 2003, 88 (04) :286-292

← 1 2 3 →