title: Biological inspiration used for robots motion synthesis.
abstract: 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.
authors: Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, Warsaw, Poland. teresaz@meil.pw.edu.pl
authors: Teresa
authors: T
authors: Zielińska
mesh_terms: 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*