title: Robust control of CPG-based 3D neuromusculoskeletal walking model.
abstract: This paper proposes a method for enhancing the robustness of the central pattern generator (CPG)-based three-dimensional (3D) neuromusculoskeletal walking controller. The CPG has been successfully applied to walking controllers and controllers for walking robots. However, the robustness of walking motion with the CPG-based controller is not sufficient, especially when subjected to external forces or environmental variations. To achieve a realistic and stable walking motion of the controller, we propose the use of an attracting controller in parallel with the CPG-based controller. The robustness of the proposed controller is confirmed through simulation results.
authors.affiliation: Nagoya University, Nagoya, Japan. ywkim@esi.nagoya-u.ac.jp
authors.forename: Youngwoo
authors.initials: Y
authors.lastname: Kim
authors.forename: Yusuke
authors.initials: Y
authors.lastname: Tagawa
authors.forename: Goro
authors.initials: G
authors.lastname: Obinata
authors.forename: Kazunori
authors.initials: K
authors.lastname: Hase
mesh_terms: D003198:Computer Simulation; D006801:Humans; D008959:Models, Neurological; D016571:Neural Networks, Computer; D016138:Walking / Q000502:physiology*