Optimization of Central Pattern Generator-Based Torque-Stiffness-Controlled Dynamic Bipedal Walking
In this paper, we propose a central pattern generator-based model to control the walking motion of a biped robot. The model independently controls the joint torque and joint stiffness in real time. Instead of the phase-dependent neural model used by Huang in 2014, we adopt the same structure for all...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/1947061 |