Pattern generators with sensory feedback for the control of quadruped locomotion
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We are proposing and testing two model-free approaches for locomotion control of a light-weight, compliant, quadruped robot: open loop central pattern generators (CPG), and open and closed- loop dynamical movement primitives (DMP). We are presenting two di ...
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The basic idea underlying this research is that the performances of wearable robots (WR) might be improved by optimizing the dynamics of the system comprised of the robot and the human body wearing it. This problem is not amenable to analytical investigati ...
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Evolutionary robotics has been shown to be an effective technique for generating robot behaviors that are difficult to derive analytically from the robot’s mechanics and task environment. Moreover, augmenting evolutionary algorithms with environmental scaf ...
Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip ...
Spring-like leg behavior was found in the global dynamics of human and animal running in sagittal plane. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a large range of speeds and is, therefor ...
In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot's motion. This paper presents an output feedbac ...
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