loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Matthias Kubisch ; Benjamin Werner and Manfred Hild

Affiliation: Humboldt-Universität zu Berlin, Germany

Keyword(s): Humanoid robots, Limit cycle walking, Co-existing attractors, Neural controller, Sensorimotor loop.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Bio-Inspired and Humanoid Robotics ; Biomedical Engineering ; Biomedical Signal Processing ; Computational Intelligence ; Health Engineering and Technology Applications ; Human-Computer Interaction ; Methodologies and Methods ; Neural Networks ; Neurocomputing ; Neurotechnology, Electronics and Informatics ; Pattern Recognition ; Physiological Computing Systems ; Sensor Networks ; Signal Processing ; Soft Computing ; Stability and Instability in Artificial Neural Networks ; Theory and Methods

Abstract: The implementation of a biped robot gait is a challenging task within the field of mobile robotics. Particularly, when the robot is subject to unknown disturbance in constantly changing terrain, a stable and robust gait is crucial. Regarding the machine together with the controller as an integrated system, the Dynamical Systems Approach yields a new perspective on legged robots. So called Limit CycleWalkers have shown their inherent stability against moderate disturbances of different kinds because gaits can be constructed as attractors of the dynamical system. Here, we will show how co-existing attractors in neural sensorimotor loops can be used for the construction of robot gaits and for easy switching among behaviours. The results are demonstrated using a humanoid robot with neural control and it is shown that walking and standing upright can be implemented as co-existing attractors of the same pure sensorimotor loop.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 52.54.103.76

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Kubisch, M.; Werner, B. and Hild, M. (2011). USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT. In Proceedings of the International Conference on Neural Computation Theory and Applications (IJCCI 2011) - NCTA; ISBN 978-989-8425-84-3, SciTePress, pages 385-390. DOI: 10.5220/0003682203850390

@conference{ncta11,
author={Matthias Kubisch. and Benjamin Werner. and Manfred Hild.},
title={USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT},
booktitle={Proceedings of the International Conference on Neural Computation Theory and Applications (IJCCI 2011) - NCTA},
year={2011},
pages={385-390},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003682203850390},
isbn={978-989-8425-84-3},
}

TY - CONF

JO - Proceedings of the International Conference on Neural Computation Theory and Applications (IJCCI 2011) - NCTA
TI - USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT
SN - 978-989-8425-84-3
AU - Kubisch, M.
AU - Werner, B.
AU - Hild, M.
PY - 2011
SP - 385
EP - 390
DO - 10.5220/0003682203850390
PB - SciTePress