Biological inspiration used for robots motion synthesis.
This work presents a biologically inspired method of gait generation. Bipedal gait pattern (for hip and knee joints) was taken into account giving the reference trajectories in a learning task. The four coupled oscillators were taught to generate the outputs similar to those in a human gait. After applying the correction functions the obtained generation method was validated using ZMP criterion. The formula suitable for real-time motion generation taking into account the positioning errors was also formulated. The small real robot prototype was tested to be able walk successfully following the elaborated motion pattern.
Zielińska
Teresa
T
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, Warsaw, Poland. teresaz@meil.pw.edu.pl
D001696:Biomechanical Phenomena; D006801:Humans; D008124:Locomotion / Q000502:physiology*; D008954:Models, Biological; D009038:Motion; D017711:Nonlinear Dynamics; D009991:Oscillometry; D010507:Periodicity; D012371:Robotics / Q000379:methods*