Neuro-mechanical entrainment in a bipedal robotic walking platform
File(s)
Accepted version
Author(s)
Veskos,P.
Demiris,Y.
Type
Conference Paper
Abstract
In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace.
Editor(s)
Kovacs, T
Marshall, JAR
Date Issued
2006-05
Citation
2006, 2, pp.78-84
Publisher
AISB
Start Page
78
End Page
84
Volume
2
Copyright Statement
© 2006 AISB
Description
29.01.14 KB. Ok to add accepted version to spiral, paper available on publisher website under CC license.
Identifier
http://www.aisb.org.uk/publications/proceedings/aisb2006/AISB06_vol2.pdf
Source
AISB'06: Adaptation in Artificial and Biological Systems
Source Place
Bristol, UK
Start Date
2006-04-03
Finish Date
2006-04-06
Coverage Spatial
Bristol, UK