DocumentCode
3311834
Title
Motion generation for bipedal robot using neuro-musculo-skeletal model and Simulated Annealing
Author
Taki, Kenta ; Itoh, Yoshihiko ; Kato, Shohei ; Itoh, Hidenori
Author_Institution
Dept. of Comput. Sci. & Eng., Nagoya Inst. of Technol., Japan
Volume
2
fYear
2004
fDate
1-3 Dec. 2004
Firstpage
699
Abstract
We propose a stochastic approach to CPG-based motion generation of a bipedal robot. We make an extension to a motion control system based on a neuro-musculoskeletal model into three dimensions, and give an optimization of control parameters by simulated annealing. Not only do we obtain walking motion by our approach but provide some empirical verification of various walking patterns adaptive to different link structures. In addition to straight walking, this paper gives the performance results of turning walk to right and left.
Keywords
legged locomotion; motion control; neurocontrollers; simulated annealing; CIPG-based motion generation; bipedal robot; control parameter optimization; motion control system; neuro-musculoskeletal model; simulated annealing; stochastic approach; walking motion; Computational modeling; Control systems; Humanoid robots; Legged locomotion; Motion control; Neurons; Rhythm; Robot sensing systems; Simulated annealing; Stochastic processes;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN
0-7803-8645-0
Type
conf
DOI
10.1109/RAMECH.2004.1438003
Filename
1438003
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