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Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods

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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

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