Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations
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arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2023
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| _version_ | 1866909135804563456 |
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| author | Sakurai, Yusuke Kamimura, Tomoya Sakamoto, Yuki Nishii, Shohei Sato, Kodai Fujiwara, Yuta Sano, Akihito |
| author_facet | Sakurai, Yusuke Kamimura, Tomoya Sakamoto, Yuki Nishii, Shohei Sato, Kodai Fujiwara, Yuta Sano, Akihito |
| contents | We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such characteristics should be reproduced to yield the desired effect, In this study, we designed a central pattern generator (CPG) involving fast and slow adaptation to achieve human-like running using a simple spring-mass model and our developed bipedal robot, which is equipped with actuators that imitate the human musculoskeletal system. Our results demonstrate that the CPG-based controller with fast and slow adaptations, and a adjustable actuator control timing can reproduce human-like running. The results suggest that the CPG contributes to the adjustment of the muscle activation timing in human running. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_00910 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations Sakurai, Yusuke Kamimura, Tomoya Sakamoto, Yuki Nishii, Shohei Sato, Kodai Fujiwara, Yuta Sano, Akihito Robotics Systems and Control We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such characteristics should be reproduced to yield the desired effect, In this study, we designed a central pattern generator (CPG) involving fast and slow adaptation to achieve human-like running using a simple spring-mass model and our developed bipedal robot, which is equipped with actuators that imitate the human musculoskeletal system. Our results demonstrate that the CPG-based controller with fast and slow adaptations, and a adjustable actuator control timing can reproduce human-like running. The results suggest that the CPG contributes to the adjustment of the muscle activation timing in human running. |
| title | Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2303.00910 |