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
    Volume1
    Publication statusPublished - 2004
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
    Duration: 2004 Sep 282004 Oct 2

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CitySendai
    Period04/9/2804/10/2

    Fingerprint

    Robots
    Control systems
    Controllers
    Torque
    Neural networks
    Monitoring

    ASJC Scopus subject areas

    • Engineering(all)

    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) (Vol. 1, pp. 931-936)

    A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot. / Or, Jimmy; Takanishi, Atsuo.

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 1 2004. p. 931-936.

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

    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). vol. 1, pp. 931-936, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, 04/9/28.
    Or J, Takanishi A. 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). Vol. 1. 2004. p. 931-936
    Or, Jimmy ; Takanishi, Atsuo. / A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 1 2004. pp. 931-936
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