Autonomous trajectory generation of a biped locomotive robot using neuro oscillator

Abstract

The trajectory of a biped locomotive robot is generated using a neuro-oscillator. This oscillator consists of four neuron cells which are mutually coupled with inhibitory connections. This model shows a stationary periodic oscillation for an appropriate set of parameters. Stability analysis of the neuro-oscillator can be performed by the linearization method. A stationary periodic oscillation appears in the unstable region for equilibrium states, and this periodic oscillation generates a trajectory for stationary walking by assigning the state variables of neuron cells to joint angles of the robot. Simulation studies confirm the relevancy of the proposed method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>