An empirical exploration of a neural oscillator for biped locomotion control

摘要

Humanoid research has made remarkable progress during the past 10 years. However, currently most humanoids use the target ZMP (zero moment point) control algorithm for bipedal locomotion, which requires precise modeling and actuation with high control gains. On the contrary, humans do not rely on such precise modeling and actuation. Our aim is to examine biologically related algorithms for bipedal locomotion that resemble human-like locomotion. This paper describes an empirical study of a neural oscillator for the control of biped locomotion. We propose a new neural oscillator arrangement applied to a compass-like biped robot. Dynamic simulations and experiments with a real biped robot were carried out and the controller performs steady walking for over 50 steps. Gait variations resulting in energy efficiency was made possible through the adjustment of only a single neural activity parameter. Aspects of adaptability and robustness of our approach are shown by allowing the robot to walk over terrains with varying surfaces with different frictional properties. Initial results suggesting optimal amplitude for dealing with perturbation are also presented.