Bipedal robotic walking control derived from analysis of human locomotion

Meng, L., Macleod, C. A., Porr, B. and Gollee, H. (2018) Bipedal robotic walking control derived from analysis of human locomotion. Biological Cybernetics, 112(3), pp. 277-290. (doi:10.1007/s00422-018-0750-5) (PMID:29399713) (PMCID:PMC6002472)

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Abstract

This paper proposes the design of a bipedal robotic controller where the function between the sensory input and motor output is treated as a black box derived from human data. In order to achieve this, we investigated the causal relationship between ground contact information from the feet and leg muscle activity n human walking and calculated filter functions which transform sensory signals to motor actions. A minimal, nonlinear, and robust control system was created and subsequently analysed by applying it to our bipedal robot RunBot III without any central pattern generators or precise trajectory control. The results demonstrate that our controller can generate stable robotic walking. This indicates that complex locomotion patterns can result from a simple model based on reflexes and supports the premise that human-derived control strategies have potential applications in robotics or assistive devices.

Item Type:Articles
Additional Information:This work was supported by the Lord Kelvin Adam Smith scholarship from the University of Glasgow. This funding was received by LM. Funding was also provided by the Engineering and Physical Sciences Research Council (EPSRC) through the Doctoral Training Centre (DTC) in Medical Devices (EP/F50036X/1), University of Strathclyde, which was received by CAM.
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Porr, Dr Bernd and Gollee, Dr Henrik
Authors: Meng, L., Macleod, C. A., Porr, B., and Gollee, H.
College/School:College of Science and Engineering > School of Engineering > Biomedical Engineering
Journal Name:Biological Cybernetics
Publisher:Springer
ISSN:0340-1200
ISSN (Online):1432-0770
Published Online:05 February 2018
Copyright Holders:Copyright © 2018 The Authors
First Published:First published in Biological Cybernetics 112(3): 277-290
Publisher Policy:Reproduced under a Creative Commons License

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