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Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking
 

Summary: Modulation of simple sinusoidal patterns by a
coupled oscillator model for biped walking
Jun Morimoto1,2, Gen Endo2,3, Jun Nakanishi1,2,
Sang-Ho Hyon1,2, and Gordon Cheng1,2
1
Computational Brain Project, ICORP, JST
2
ATR Computational Neuroscience Labs
3
Sony Intelligence Dynamics Laboratories, Inc.
2-2-2 Hikaridai Seika-cho Soraku-gun Kyoto, 6190288, JAPAN
Email: xmorimo@atr.jp
Darrin Bentivegna and Christopher G. Atkeson
The Robotics Institute, Carnegie Mellon University
5000 Forbes Ave., Pittsburgh, PA, 15213, USA
Abstract-- We show that a humanoid robot can step and walk
using simple sinusoidal desired joint trajectories with their phase
adjusted by a coupled oscillator model. We use the center of
pressure location and velocity to detect the phase of the lateral
robot dynamics. This phase information is used to modulate

  

Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University

 

Collections: Computer Technologies and Information Sciences; Engineering