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Autonomous Robots

Erschienen in:

22.10.2018

Neuromuscular model achieving speed control and steering with a 3D bipedal walker

verfasst von: Nicolas Van der Noot, Auke Jan Ijspeert, Renaud Ronsse

Erschienen in: Autonomous Robots | Ausgabe 6/2019

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Abstract

Nowadays, very few humanoid robots manage to travel in our daily environments. This is mainly due to their limited locomotion capabilities, far from the human ones. Recently, we developed a bio-inspired torque-based controller recruiting virtual muscles driven by reflexes and a central pattern generator. Straight walking experiments were obtained in a 3D simulation environment, resulting in the emergence of human-like and robust gait patterns, with speed modulation capabilities. In this paper, we extend this model, in order to control the steering direction and curvature. Based on human turning strategies, new control pathways are introduced and optimized to reach the sharpest possible turns. In sum, tele-operated motions can be achieved through the control of two scalar inputs (i.e. forward speed and heading). This is particularly relevant for steering the robot on-line, and navigating in cluttered environments. Finally, the biped demonstrated significant robustness during blind walking experiments.

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Titel: Neuromuscular model achieving speed control and steering with a 3D bipedal walker
verfasst von: Nicolas Van der Noot
Auke Jan Ijspeert
Renaud Ronsse
Publikationsdatum: 22.10.2018
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 6/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-018-9814-6

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