Publicação
Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods
| Resumo: | In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented. |
|---|---|
| Autores principais: | Oliveira, Miguel |
| Outros Autores: | Santos, Cristina; Costa, L.; Rocha, Ana Maria A. C.; Ferreira, Manuel João Oliveira |
| Assunto: | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| Ano: | 2011 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| _version_ | 1867439855288451072 |
|---|---|
| author | Oliveira, Miguel |
| author2 | Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
| author2_role | author author author author |
| author_facet | Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
| author_role | author |
| contributor_name_str_mv | RepositóriUM - Universidade do Minho |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Oliveira, Miguel\"},{\"Person.name\":\"Santos, Cristina\"},{\"Person.name\":\"Costa, L.\"},{\"Person.name\":\"Rocha, Ana Maria A. C.\"},{\"Person.name\":\"Ferreira, Manuel João Oliveira\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | RepositóriUM - Universidade do Minho |
| datacite.creators.creator.creatorName.fl_str_mv | Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
| datacite.date.Accepted.fl_str_mv | 2011-03-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2011-12-05T15:10:57Z |
| datacite.date.embargoed.fl_str_mv | 2011-12-05T15:10:57Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| datacite.titles.title.fl_str_mv | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| dc.contributor.none.fl_str_mv | RepositóriUM - Universidade do Minho |
| dc.creator.none.fl_str_mv | Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
| dc.date.Accepted.fl_str_mv | 2011-03-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2011-12-05T15:10:57Z |
| dc.date.embargoed.fl_str_mv | 2011-12-05T15:10:57Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://hdl.handle.net/1822/14826 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| dc.title.fl_str_mv | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_6501 |
| description | In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | article |
| fulltext.url.fl_str_mv | https://repositorium.uminho.pt/bitstreams/21a5265c-4860-4ef5-b73e-58409d0402e1/download |
| id | rum_bcfced95ebd0dc80ce259deeb5ad4535 |
| identifier.url.fl_str_mv | https://hdl.handle.net/1822/14826 |
| instacron_str | repositorium |
| institution | Universidade do Minho |
| instname_str | Universidade do Minho |
| language | eng |
| network_acronym_str | rum |
| network_name_str | RepositóriUM - Universidade do Minho |
| oai_identifier_str | oai:repositorium.uminho.pt:1822/14826 |
| organization_str_mv | urn:organizationAcronym:repositorium |
| person_str_mv | Oliveira, Miguel Santos, Cristina Costa, L. Rocha, Ana Maria A. C. Ferreira, Manuel João Oliveira |
| publishDate | 2011 |
| reponame_str | RepositóriUM - Universidade do Minho |
| repository_id_str | urn:repositoryAcronym:rum |
| service_str_mv | urn:repositoryAcronym:rum |
| spelling | engporIn this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.application/pdfporHead motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methodsOliveira, MiguelSantos, CristinaCosta, L.Rocha, Ana Maria A. C.Ferreira, Manuel João OliveiraHostingInstitutionOrganizationalRepositóriUM - Universidade do Minhoe-mailmailto:repositorium@usdb.uminho.ptrepositorium@usdb.uminho.pt2011-12-05T15:10:57Z2011-032011-03-01T00:00:00ZHandlehttps://hdl.handle.net/1822/14826http://purl.org/coar/access_right/c_abf2open accessAutonomous robotsBio-Inspired architectureConstraint-handling techniquesCPGs,271829 bytesliteraturehttp://purl.org/coar/resource_type/c_6501journal articlehttp://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://repositorium.uminho.pt/bitstreams/21a5265c-4860-4ef5-b73e-58409d0402e1/download |
| spellingShingle | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods Oliveira, Miguel Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| status | SINGLETON |
| subject.fl_str_mv | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| title | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| title_full | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| title_fullStr | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| title_full_unstemmed | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| title_short | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| title_sort | Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods |
| topic | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| topic_facet | Autonomous robots Bio-Inspired architecture Constraint-handling techniques CPGs, |
| url | https://hdl.handle.net/1822/14826 |
| visible | 1 |