research-article

Combining central pattern generators and reflexes

Authors:

César Ferreira,

Cristina P. SantosAuthors Info & Claims

Neurocomputing, Volume 170, Issue C

Pages 79 - 91

https://doi.org/10.1016/j.neucom.2015.05.113

Published: 25 December 2015 Publication History

Abstract

Locomotion of quadruped robots has not yet achieved the robustness, harmony, efficiency and flexibility of its biological counterparts. Biological evidences showed that there is a two-way interaction between the Central Pattern Generators (CPGs) and the body in the locomotion process of animals. Therefore, the development of bio-inspired controllers seems to be a good and robust way to obtain an efficient and robust robotic locomotion. This contribution presents an innovative hybrid controller that generates locomotion through the combination of CPGs and reflexes. The results show that the hybrid controller is capable of producing stable quadruped locomotion with a regular stepping pattern. Furthermore, it proved to be able to deal with slopes without changing the parameters and with small obstacles, overcoming them successfully.

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Cited By

Ferreira CCunha TSantos CReis L(2018)Torque Controlled Biped Model Through a Bio-Inspired Controller Using Adaptive Learning2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2018.8594160(4369-4374)Online publication date: 1-Oct-2018
https://dl.acm.org/doi/10.1109/IROS.2018.8594160
MaloźTamayo AVeraźBustamante PMaldonado Ramos JEnríquezźCobo A(2017)Inverse models and robust parametric-step neuro-control of a Humanoid RobotNeurocomputing10.1016/j.neucom.2016.09.107233:C(90-103)Online publication date: 12-Apr-2017
https://dl.acm.org/doi/10.1016/j.neucom.2016.09.107

Index Terms

Combining central pattern generators and reflexes
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics

Index terms have been assigned to the content through auto-classification.

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Published In

cover image Neurocomputing

Neurocomputing Volume 170, Issue C

December 2015

466 pages

ISSN:0925-2312

Issue’s Table of Contents

Copyright © Elsevier B.V.

Publisher

Elsevier Science Publishers B. V.

Netherlands

Publication History

Published: 25 December 2015

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Cited By

Ferreira CCunha TSantos CReis L(2018)Torque Controlled Biped Model Through a Bio-Inspired Controller Using Adaptive Learning2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2018.8594160(4369-4374)Online publication date: 1-Oct-2018
https://dl.acm.org/doi/10.1109/IROS.2018.8594160
MaloźTamayo AVeraźBustamante PMaldonado Ramos JEnríquezźCobo A(2017)Inverse models and robust parametric-step neuro-control of a Humanoid RobotNeurocomputing10.1016/j.neucom.2016.09.107233:C(90-103)Online publication date: 12-Apr-2017
https://dl.acm.org/doi/10.1016/j.neucom.2016.09.107

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