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- W2402642874 abstract "In recent years there has been a growing interest in the field of dynamic walking and bio-inspired robots. However, while walking and running on a flat surface have been studied extensively, walking dynamically over terrains with varying slope remains a challenge. Previously we developed an open loop controller based on a central pattern generator (CPG). The controller applied predefined torque patterns to a compass-gait biped, and achieved stable gaits over a limited range of slopes. In this work, this range is greatly extended by applying a once per cycle feedback to the CPG controller. The terrain's slope is measured and used to modify both the CPG frequency and the torque amplitude once per step. A multi-objective optimization algorithm was used to tune the controller parameters for a simulated CB model. The resulting controller successfully traverses terrains with slopes ranging from +7° to -8°, comparable to most slopes found in human constructed environments. Gait stability was verified by computing the linearized Poincaré Map both numerically and analytically." @default.
- W2402642874 created "2016-06-24" @default.
- W2402642874 creator A5001664108 @default.
- W2402642874 creator A5049650656 @default.
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- W2402642874 date "2015-08-20" @default.
- W2402642874 modified "2023-10-02" @default.
- W2402642874 title "Minimal feedback to a rhythm generator improves the robustness to slope variations of a compass biped" @default.
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- W2402642874 doi "https://doi.org/10.1088/1748-3190/10/5/056005" @default.
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