ArticleBiological cybernetics2018
Bipedal robotic walking control derived from analysis of human locomotion.
Article in Biological cybernetics, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed, 14 citations in OpenAlex.
- Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation.Biological cybernetics · 2024Article
- Dynamical consequences of sensory feedback in a half-center oscillator coupled to a simple motor system.Biological cybernetics · 2021Article
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
This paper proposes the design of a bipedal robotic controller where the function between the sensory input and motor output is treated as a black box derived from human data. In order to achieve this, we investigated the causal relationship between ground contact information from the feet and leg muscle activity n human walking and calculated filter functions which transform sensory signals to motor actions. A minimal, nonlinear, and robust control system was created and subsequently analysed by applying it to our bipedal robot RunBot III without any central pattern generators or precise trajectory control. The results demonstrate that our controller can generate stable robotic walking. This indicates that complex locomotion patterns can result from a simple model based on reflexes and supports the premise that human-derived control strategies have potential applications in robotics or assistive devices.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.