Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach
Autor(a) principal: | |
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Data de Publicação: | 2011 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/14843 |
Resumo: | In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CPGs). These generate the rhythmic locomotor movements for a quadruped robot. The generated trajectories are modulated by a tonic signal, that encodes the required activity and/or modulation. This drive signal strength is mapped onto sets of CPG parameters. By increasing the drive signal, locomotion can be elicited and velocity increased while switching to the appropriate gaits. This drive signal can be specified according to sensory information or set a priori. The system is implemented in a simulated and real AIBO robot. Results demonstrate the adequacy of the architecture to generate and modulate the required coordinated trajectories according to a velocity increase; and to smoothly and easily switch among the different motor behaviors. |
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Gait transition and modulation in a quadruped robot : a brainstem-like modulation approachCPGsAutonomous robotsQuadruped locomotionContinuous gait switchingArchitecture bio-inspiredGait modulationScience & TechnologyIn this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CPGs). These generate the rhythmic locomotor movements for a quadruped robot. The generated trajectories are modulated by a tonic signal, that encodes the required activity and/or modulation. This drive signal strength is mapped onto sets of CPG parameters. By increasing the drive signal, locomotion can be elicited and velocity increased while switching to the appropriate gaits. This drive signal can be specified according to sensory information or set a priori. The system is implemented in a simulated and real AIBO robot. Results demonstrate the adequacy of the architecture to generate and modulate the required coordinated trajectories according to a velocity increase; and to smoothly and easily switch among the different motor behaviors.The authors gratefully acknowledge Keir Pearson for all the discussions and help. This work is funded by FEDER Funding supported by the Operational Program Competitive Factors COMPETE and National Funding supported by the FCT - Foundation for Science and Technology through project PTDC/EEACRO/100655/2008.ElsevierUniversidade do MinhoSantos, CristinaMatos, Vítor2011-092011-09-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/14843eng0921-889010.1016/j.robot.2011.05.003info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:30:32Zoai:repositorium.sdum.uminho.pt:1822/14843Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:25:43.776027Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
title |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
spellingShingle |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach Santos, Cristina CPGs Autonomous robots Quadruped locomotion Continuous gait switching Architecture bio-inspired Gait modulation Science & Technology |
title_short |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
title_full |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
title_fullStr |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
title_full_unstemmed |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
title_sort |
Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach |
author |
Santos, Cristina |
author_facet |
Santos, Cristina Matos, Vítor |
author_role |
author |
author2 |
Matos, Vítor |
author2_role |
author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Santos, Cristina Matos, Vítor |
dc.subject.por.fl_str_mv |
CPGs Autonomous robots Quadruped locomotion Continuous gait switching Architecture bio-inspired Gait modulation Science & Technology |
topic |
CPGs Autonomous robots Quadruped locomotion Continuous gait switching Architecture bio-inspired Gait modulation Science & Technology |
description |
In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CPGs). These generate the rhythmic locomotor movements for a quadruped robot. The generated trajectories are modulated by a tonic signal, that encodes the required activity and/or modulation. This drive signal strength is mapped onto sets of CPG parameters. By increasing the drive signal, locomotion can be elicited and velocity increased while switching to the appropriate gaits. This drive signal can be specified according to sensory information or set a priori. The system is implemented in a simulated and real AIBO robot. Results demonstrate the adequacy of the architecture to generate and modulate the required coordinated trajectories according to a velocity increase; and to smoothly and easily switch among the different motor behaviors. |
publishDate |
2011 |
dc.date.none.fl_str_mv |
2011-09 2011-09-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/14843 |
url |
http://hdl.handle.net/1822/14843 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
0921-8890 10.1016/j.robot.2011.05.003 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Elsevier |
publisher.none.fl_str_mv |
Elsevier |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799132742095470592 |