Title :
Synthesis of CPG Based Motion Control Methods for Humanoid Robots
Author :
Ma, Hongxu ; Wang, Jian ; Huang, Qianwei ; Qin, Haili
Author_Institution :
Coll. of Mechtronic & Autom., National Univ. of Defense Technol., Changsha
Abstract :
This paper mainly focuses on the application of CPG based motion control methods for humanoid robots. Firstly, motion control problems of humanoid robots are discussed, and the difference between traditional methods and CPG based methods is pointed out. Then, the biological essence and basic idea of the CPG based control methods are analyzed, and several critical problems of the application of the methods are studied in detail. Finally, the status quo of the methods is synthesized
Keywords :
control system synthesis; humanoid robots; motion control; neurocontrollers; central pattern generator; humanoid robots; motion control synthesis; neural oscillator network; Biological control systems; Educational institutions; Humanoid robots; Intelligent robots; Motion control; Motion planning; Network synthesis; Oscillators; Paper technology; Robotics and automation; Central Pattern Generator; Humanoid robot; Motion control; Neural Oscillator Network;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713709
