A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot

Jimmy Or, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

Recently, a few researchers have started to realize that in order for humanoid robots to move more naturally, it is necessary for them to incorporate a flexible spine in their robots. So far, nobody has come out with a solution which allows their spine robots to maintain balance in real-time. This paper presents a biologically inspired, hybrid CPG-ZMP controller for a single-legged, flexible spine belly dancing robot. Using only two control parameters, our robot can generate rhythmic and wave-like spine motions through the CPG component. By monitoring the torque at the robot's ankle, the ZMP component allows the robot to maintain balance in real-time. Unlike traditional ZMP-based controllers, no modeling of the robot's dynamics or explicit computations of the zero moment point are required. The resultant robot's motions emerge automatically in real-time through dynamic interactions between the robot, its neural network and the environment. Experimental results indicate that our controller has the potential to be applied to a new generation of flexible spine, biped walking humanoid robots.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages931-936
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume1

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Or, J., & Takanishi, A. (2004). A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 931-936). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 1).