Generation of adaptive splitbelt treadmill walking of a biped robot using learning of intralimb and interlimb coordinations
Generation of adaptive splitbelt treadmill walking of a biped robot using learning of intralimb and interlimb coordinations
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DOI：
10.1109/icra.2014.6907191
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
S. Fujiki;S. Aoi;K. Senda;K. Tsuchiya
中科院分区：
文献类型：
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作者：
S. Fujiki;S. Aoi;K. Senda;K. Tsuchiya
在本文中，我们提出了一种控制系统，可学习研究神经力学功能，以在分带式跑步机上产生自适应双足运动。人类在分带式跑步机行走中表现出两种类型的适应，称为早期适应和晚期适应。在我们之前的工作中，我们研究了由具有相位重置的非线性振荡器驱动的双足机器人的运动行为，并表明它产生了像人类一样的早期适应。然而，由于运动控制系统不包含任何学习机制，因此没有表现出后期适应。在本文中，我们新开发了学习系统，它可以调节肢体间和肢体内的协调模式，并将它们合并到我们的运动控制系统中。我们使用计算机模拟和机器人实验研究了双足机器人的运动行为。结果表明，分带式跑步机行走过程中的早期和晚期适应以及运动参数的时间演化与人类相似，这可能有助于理解人类的适应机制和设计双足机器人控制系统的指导原则。
In this paper, we proposed a control system with learning to investigate neuromechanical functions for generating adaptive bipedal locomotion on a splitbelt treadmill. Humans show two types of adaptations, called early adaptation and late adaptation, in splitbelt treadmill walking. In our previous work, we investigated the locomotor behavior of a biped robot driven by nonlinear oscillators with phase resetting and showed that it produced the early adaptation like humans. However, because the locomotion control system did not contain any learning mechanism, it did not show the late adaptation. In this paper, we newly develop learning systems, which modulate the interlimb and intralimb coordination patterns, and incorporate them to our locomotion control system. We investigated the locomotor behavior of a biped robot using computer simulations and robot experiments. The results showed the early and late adaptations during the splitbelt treadmill walking and the time evolution of locomotion parameters was similar to that of humans, which might contribute to understanding of adaptive mechanism in humans and to guiding principle for designing a control system of biped robots.