USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT

Matthias Kubisch, Benjamin Werner, Manfred Hild

2011

Abstract

The implementation of a biped robot gait is a challenging task within the field of mobile robotics. Particularly, when the robot is subject to unknown disturbance in constantly changing terrain, a stable and robust gait is crucial. Regarding the machine together with the controller as an integrated system, the Dynamical Systems Approach yields a new perspective on legged robots. So called Limit CycleWalkers have shown their inherent stability against moderate disturbances of different kinds because gaits can be constructed as attractors of the dynamical system. Here, we will show how co-existing attractors in neural sensorimotor loops can be used for the construction of robot gaits and for easy switching among behaviours. The results are demonstrated using a humanoid robot with neural control and it is shown that walking and standing upright can be implemented as co-existing attractors of the same pure sensorimotor loop.

Paper Citation

in Harvard Style

Kubisch M., Werner B. and Hild M. (2011). USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT . In Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011) ISBN 978-989-8425-84-3, pages 385-390. DOI: 10.5220/0003682203850390

in Bibtex Style

@conference{ncta11,
author={Matthias Kubisch and Benjamin Werner and Manfred Hild},
title={USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT},
booktitle={Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011)},
year={2011},
pages={385-390},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003682203850390},
isbn={978-989-8425-84-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011)
TI - USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT
SN - 978-989-8425-84-3
AU - Kubisch M.
AU - Werner B.
AU - Hild M.
PY - 2011
SP - 385
EP - 390
DO - 10.5220/0003682203850390