A CPG-based gait planning method for bipedal robots

Gait planning is one of the main focuses in the research field of bipedal robotics. To enhance the stability and simplicity of gait planning for bipedal robots using central pattern generator (CPG) methods, this paper first refines the existing Kimura oscillator model. Subsequently, an improved osci...

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Veröffentlicht in:	Artificial life and robotics 2024-05, Vol.29 (2), p.340-348
Hauptverfasser:	Jianyuan, Wang, Siyu, Lu, Jinbao, Chen
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Artificial Intelligence Computation by Abstract Devices Computer Science Control Flat surfaces Gait Mathematical models Mechatronics Optimization Original Article Oscillators Parameters Robot dynamics Robotics Stability Walking
Online-Zugang:	Volltext
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