Methods Synthesis of Central Pattern Generator Inspired Biped Walking Control

摘要：

　　Bio-inspired locomotion control method is one of the ways to promote the site application of biped robots.This paper synthesizes the main idea and structure of central pattern generator(CPG)inspired biped walking control methods into two kinds of common strategies: joint space control methods and workspace control methods.The key problems of these two approaches are deeply explored.Finally,the research direction of the CPG-inspired control method is discussed.The motivation of this paper is to synthesize the current mainly methods for biped robots to present a practical guide to researchers and engineers interested in the CPG-inspired control approaches.

关键词： Biped robot Walking control Central pattern generator(CPG) Joint space control Workspace control

作者: Chengju Liu Qijun Chen

作者单位: School of Electronics and Information Engineering,Tongji University,Shanghai,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 371-379

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）