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Walking control strategy for biped robots based on central pattern generator

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2 Author(s)
Chengju Liu ; Sch. of Electron. & Inf. Eng., Tongji Univ., Shanghai, China ; Qijun Chen

This paper deals with the walking control of biped robots inspired by biological concept of central pattern generator (CPG). A control architecture is proposed with a trajectory generator and a motion engine. The trajectory generator consists of a CoG (center of gravity) trajectory generator and a foot trajectory modulator. The CoG generator generates adaptive CoG trajectories online and the foot trajectories can be modulated based on the generated CoG trajectories. A biped platform NAO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012