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Biol Cybern. 2011 Oct;105(3-4):269-82. doi: 10.1007/s00422-011-0464-4. Epub 2011 Dec 3.

Robust control of CPG-based 3D neuromusculoskeletal walking model.

Author information

1
Nagoya University, Nagoya, Japan. ywkim@esi.nagoya-u.ac.jp

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.

PMID:
22138897
DOI:
10.1007/s00422-011-0464-4
[Indexed for MEDLINE]

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