DocumentCode
416957
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
Volume
2
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
1535
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1324200
Link To Document