Biologically Inspired Energy Efficient Walking for Biped Robots
Prior methods of bipedal humanoid walking through high gain position control is energy intensive. This paper introduces a biologically inspired method for robot locomotion that improves energy efficiency. Neural oscillators were used as the central pattern generator of the gait pattern and were able...
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| creator | Kim, H.K. Woong Kwon Kyung Shik Roh |
| description | Prior methods of bipedal humanoid walking through high gain position control is energy intensive. This paper introduces a biologically inspired method for robot locomotion that improves energy efficiency. Neural oscillators were used as the central pattern generator of the gait pattern and were able to entrain the natural frequency for robot locomotion. The impedance of the legs was modulated so that the legs can swing more freely during swing phase and control position accurately during support phase. Dynamic simulations of humanoid robot walking with the proposed method resulted in energy efficiency improvement of 40.5%. Also, the modulation of impedance resulted in a more stable contact with the ground during landing of the foot. |
| doi_str_mv | 10.1109/ROBIO.2006.340273 |
| format | Conference Proceeding |
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This paper introduces a biologically inspired method for robot locomotion that improves energy efficiency. Neural oscillators were used as the central pattern generator of the gait pattern and were able to entrain the natural frequency for robot locomotion. The impedance of the legs was modulated so that the legs can swing more freely during swing phase and control position accurately during support phase. Dynamic simulations of humanoid robot walking with the proposed method resulted in energy efficiency improvement of 40.5%. 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This paper introduces a biologically inspired method for robot locomotion that improves energy efficiency. Neural oscillators were used as the central pattern generator of the gait pattern and were able to entrain the natural frequency for robot locomotion. The impedance of the legs was modulated so that the legs can swing more freely during swing phase and control position accurately during support phase. Dynamic simulations of humanoid robot walking with the proposed method resulted in energy efficiency improvement of 40.5%. Also, the modulation of impedance resulted in a more stable contact with the ground during landing of the foot.</description><subject>Biologically inspired robotics</subject><subject>Bipedal walking</subject><subject>Energy efficiency</subject><subject>Foot</subject><subject>Frequency</subject><subject>Humanoid robot</subject><subject>Humanoid robots</subject><subject>Impedance</subject><subject>Impedance control</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Neural oscillator</subject><subject>Oscillators</subject><subject>Phase modulation</subject><subject>Position control</subject><isbn>9781424405701</isbn><isbn>142440570X</isbn><isbn>1424405718</isbn><isbn>9781424405718</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1jMtKxEAURFtEUMd8gLjpH0i8_c5diRkyGhgIDIrLIY_u0BrTIckmf29ArU1Rp4oi5J5Bwhjg46nMijLhADoRErgRF-SWSS4lKMPSSxKhSf8zsGsSzfMnbBKoueI35CnzoQ-db6q-X2kxzKOfbEvzwU7dSnPnfOPtsNCPqv_yQ0ddmGjmx21yCnVY5jty5ap-ttGf78j7IX_bv8bH8qXYPx9jz4xaYqkcgLPcGCW4w9SilYhgGs2FrlE3TjMhN1C1soVatwY0thyU5KrmAsWOPPz-emvteZz8dzWtZ8kkw639Af3sSHc</recordid><startdate>200612</startdate><enddate>200612</enddate><creator>Kim, H.K.</creator><creator>Woong Kwon</creator><creator>Kyung Shik Roh</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200612</creationdate><title>Biologically Inspired Energy Efficient Walking for Biped Robots</title><author>Kim, H.K. ; Woong Kwon ; Kyung Shik Roh</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-45f00fe277532f98e9e49907c6236b96cf6134907ad4d0b6d7069d205425b2393</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Biologically inspired robotics</topic><topic>Bipedal walking</topic><topic>Energy efficiency</topic><topic>Foot</topic><topic>Frequency</topic><topic>Humanoid robot</topic><topic>Humanoid robots</topic><topic>Impedance</topic><topic>Impedance control</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Neural oscillator</topic><topic>Oscillators</topic><topic>Phase modulation</topic><topic>Position control</topic><toplevel>online_resources</toplevel><creatorcontrib>Kim, H.K.</creatorcontrib><creatorcontrib>Woong Kwon</creatorcontrib><creatorcontrib>Kyung Shik Roh</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kim, H.K.</au><au>Woong Kwon</au><au>Kyung Shik Roh</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Biologically Inspired Energy Efficient Walking for Biped Robots</atitle><btitle>2006 IEEE International Conference on Robotics and Biomimetics</btitle><stitle>ROBIO</stitle><date>2006-12</date><risdate>2006</risdate><spage>630</spage><epage>635</epage><pages>630-635</pages><isbn>9781424405701</isbn><isbn>142440570X</isbn><eisbn>1424405718</eisbn><eisbn>9781424405718</eisbn><abstract>Prior methods of bipedal humanoid walking through high gain position control is energy intensive. This paper introduces a biologically inspired method for robot locomotion that improves energy efficiency. Neural oscillators were used as the central pattern generator of the gait pattern and were able to entrain the natural frequency for robot locomotion. The impedance of the legs was modulated so that the legs can swing more freely during swing phase and control position accurately during support phase. Dynamic simulations of humanoid robot walking with the proposed method resulted in energy efficiency improvement of 40.5%. Also, the modulation of impedance resulted in a more stable contact with the ground during landing of the foot.</abstract><pub>IEEE</pub><doi>10.1109/ROBIO.2006.340273</doi><tpages>6</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biologically inspired robotics Bipedal walking Energy efficiency Foot Frequency Humanoid robot Humanoid robots Impedance Impedance control Leg Legged locomotion Neural oscillator Oscillators Phase modulation Position control |
| title | Biologically Inspired Energy Efficient Walking for Biped Robots |
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