Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

Mohamed A. Sayari; Neila Masmoudi; Riadh Zaier

doi:10.1007/978-3-030-27146-6_98

Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

Mohamed A. Sayari^*, Neila Masmoudi, Riadh Zaier

^*Corresponding author for this work

Mechanical and Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot’s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.

Original language	English
Title of host publication	Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019
Editors	Nizar Aifaoui, Zouhaier Affi, Abdelmajid Benamara, Mnaouar Chouchane, Mohamed Slim Abbes, Lassad Walha, Mohamed Haddar, Fakher Chaari, Lotfi Romdhane
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	910-918
Number of pages	9
ISBN (Print)	9783030271459
DOIs	https://doi.org/10.1007/978-3-030-27146-6_98
Publication status	Published - 2020
Event	8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019 - Hammamet, Tunisia Duration: Mar 18 2019 → Mar 20 2019

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019
Country/Territory	Tunisia
City	Hammamet
Period	3/18/19 → 3/20/19

Keywords

Biped locomotion
Central pattern generator
Zero moment point

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

Access to Document

10.1007/978-3-030-27146-6_98

Cite this

Sayari, M. A., Masmoudi, N., & Zaier, R. (2020). Bio-Inspired CPG Based Locomotion for Humanoid Robot Application. In N. Aifaoui, Z. Affi, A. Benamara, M. Chouchane, M. S. Abbes, L. Walha, M. Haddar, F. Chaari, & L. Romdhane (Eds.), Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019 (pp. 910-918). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-27146-6_98

Bio-Inspired CPG Based Locomotion for Humanoid Robot Application. / Sayari, Mohamed A.; Masmoudi, Neila; Zaier, Riadh.
Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019. ed. / Nizar Aifaoui; Zouhaier Affi; Abdelmajid Benamara; Mnaouar Chouchane; Mohamed Slim Abbes; Lassad Walha; Mohamed Haddar; Fakher Chaari; Lotfi Romdhane. Springer Science and Business Media Deutschland GmbH, 2020. p. 910-918 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sayari, MA, Masmoudi, N & Zaier, R 2020, Bio-Inspired CPG Based Locomotion for Humanoid Robot Application. in N Aifaoui, Z Affi, A Benamara, M Chouchane, MS Abbes, L Walha, M Haddar, F Chaari & L Romdhane (eds), Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 910-918, 8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019, Hammamet, Tunisia, 3/18/19. https://doi.org/10.1007/978-3-030-27146-6_98

Sayari MA, Masmoudi N, Zaier R. Bio-Inspired CPG Based Locomotion for Humanoid Robot Application. In Aifaoui N, Affi Z, Benamara A, Chouchane M, Abbes MS, Walha L, Haddar M, Chaari F, Romdhane L, editors, Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019. Springer Science and Business Media Deutschland GmbH. 2020. p. 910-918. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-3-030-27146-6_98

Sayari, Mohamed A. ; Masmoudi, Neila ; Zaier, Riadh. / Bio-Inspired CPG Based Locomotion for Humanoid Robot Application. Design and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019. editor / Nizar Aifaoui ; Zouhaier Affi ; Abdelmajid Benamara ; Mnaouar Chouchane ; Mohamed Slim Abbes ; Lassad Walha ; Mohamed Haddar ; Fakher Chaari ; Lotfi Romdhane. Springer Science and Business Media Deutschland GmbH, 2020. pp. 910-918 (Lecture Notes in Mechanical Engineering).

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abstract = "Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot{\textquoteright}s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.",

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AB - Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot’s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.

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Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

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Keywords

ASJC Scopus subject areas

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