Title :
A model of learning free bipedal walking in indefinite environment constraints self-emergence/self-satisfaction paradigm
Author :
Tomita, N. ; Yano, M.
Author_Institution :
Res. Inst. of Electr. Commun., Tohoku Univ., Sendai, Japan
Abstract :
We propose a bipedal walking model based on C-SESS paradigm. This model only needs desired velocity to walk. It can begin to walk from a standstill and change to steady state immediately. A walk is maintained by the real-time control when mechanical perturbations are added. Our results suggest that the generated pattern can adopt to unpredictable environment. This model based on C-SESS paradigm is easily extensible to voluntary movement control model.
Keywords :
learning systems; legged locomotion; motion control; real-time systems; central pattern generator; environment constraints; learning free bipedal walking; mechanical perturbations; real time control; self emergence paradigm; self satisfaction paradigm; voluntary movement control;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
