CPG”s Parameters and Topology Co-Evolution for Walking Control of Biped Robots

摘要：

　　In this paper, we focus on the bipedal walking that can be achieved by using a bio-inspired controller based on central pattern generator (CPG).The challenge of this work is to determine the topology of neural network and the setting of the parameters.For this, by using neural oscillators to generate joint position control signals directly, a proper distributed oscillator network which consists of a body network and a leg network is constructed.To realize stable biped walking, the sensory feedback loop is designed and the parameters of the system are evolved by multi-objective genetic algorithm (MOGA).The presented control method is validated through an ODE-based physically simulated environment.Under the controller, NAO can realize basic walking pattern, which demonstrate the effectiveness of the presented bio-inspired control method.

关键词： Central pattern generator biped robot walking control evolutionary algorithm

作者: XIAO Hui CHEN Qijun LIU Chengju

作者单位: Department of Electronic and Information Engineering, Institute of Control Theory and Control Engineering,Tongji University, Shanghai, China

会议类型: 国内会议

会议名称: 2013年中国信息通信研究新进展研讨会暨第五届数字媒体技术专业建设研讨会

会议地点: 石家庄

会议语种:英文

页码: 120-126

在线出版日期: 2013-11-01（万方平台首次上网日期，不代表论文的发表时间）