Journal
BIOLOGICAL CYBERNETICS
Volume 105, Issue 3-4, Pages 269-282Publisher
SPRINGER
DOI: 10.1007/s00422-011-0464-4
Keywords
3D walking simulator; CPG; Walking model; Robust control
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This paper proposes a method for enhancing the robustness of the central pattern generator (CPG)-based three-dimensional (3D) neuromusculoskeletal walking controller. The CPG has been successfully applied to walking controllers and controllers for walking robots. However, the robustness of walking motion with the CPG-based controller is not sufficient, especially when subjected to external forces or environmental variations. To achieve a realistic and stable walking motion of the controller, we propose the use of an attracting controller in parallel with the CPG-based controller. The robustness of the proposed controller is confirmed through simulation results.
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