Central Pattern Generators for Gait Generation in Bipedal Robots

Created by W.Langdon from gp-bibliography.bib Revision:1.7615

@InCollection{Heralic:2007:hrnd,

• author = "Almir Heralic and Krister Wolff and Mattias Wahde",
• title = "Central Pattern Generators for Gait Generation in Bipedal Robots",
• booktitle = "Humanoid Robots: New Developments",
• publisher = "I-Tech Education and Publishing",
• year = "2007",
• editor = "Armando Carlos {de Pina Filho}",
• chapter = "17",
• pages = "285--304",
• month = jun,
• note = "Invited book chapter",
• address = "Vienna, Austria",
• keywords = "genetic algorithms, genetic programming",
• isbn13 = "978-3-902613-00-4",
• URL = "http://www.intechopen.com/download/pdf/pdfs_id/237",
• URL = "http://www.intechopen.com/articles/show/title/central_pattern_generators_for_gait_generation_in_bipedal_robots",
• DOI = "doi:10.5772/4873",
• abstract = "An obvious problem confronting humanoid robotics is the generation of stable and efficient gaits. Whereas wheeled robots normally are statically balanced and remain upright regardless of the torques applied to the wheels, a bipedal robot must be actively balanced, particularly if it is to execute a human-like, dynamic gait. The success of gait generation methods based on classical control theory, such as the zero-moment point (ZMP) method (Takanishi et al., 1985), relies on the calculation of reference trajectories for the robot to follow. In the ZMP method, control torques are generated in order to keep the zero-moment point within the convex hull of the support area defined by the feet. When the robot is moving in a well-known environment, the ZMP method certainly works well. However, when the robot finds itself in a dynamically changing real-world environment, it will encounter unexpected situations that cannot be accounted for in advance. Hence, reference trajectories can rarely be specified under such circumstances. In order to address this problem, alternative, biologically inspired control methods have been proposed, which do not require the specification of reference trajectories. The aim of this chapter is to describe one such method, based on central pattern generators (CPGs), for control of bipedal robots.",
• size = "20 pages",

}

Genetic Programming entries for Almir Heralic Krister Wolff Mattias Wahde

Citations