Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a "minimalist" bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion. © 2013 Springer-Verlag.
CITATION STYLE
Owaki, D., Kano, T., Tero, A., Akiyama, M., & Ishiguro, A. (2013). Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion. In Advances in Intelligent Systems and Computing (Vol. 194 AISC, pp. 493–502). Springer Verlag. https://doi.org/10.1007/978-3-642-33932-5_45
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