@inproceedings{450b3c2c7e6c431485ee3dd450dfafc6,
title = "CPG-based control of bipedal walking by exploiting plantar sensation",
abstract = "The plantar area of the human foot is larger than that of the quadruped foot, and it contains a large number of sensory organs. Thus, such a foot structure plays a crucial role in extracting “rich” sensory information for the generation of adaptive walking in humans. Here, we propose novel central pattern generator (CPG)-based control of a bipedal walking robot by exploiting plantar sensation. To effectively exploit plantar sensory information, we redesign the local sensory feedback to the CPG model that we previously proposed for quadruped robots. The simulation results indicate that the biped model exhibits a remarkably robust walking ability by exploiting the plantar sensation according to the current walking motion.",
keywords = "Bipedal robot, CPG, Plantar sensation",
author = "D. Owaki and A. Ishiguro",
note = "Publisher Copyright: {\textcopyright} 2014 by World Scientific Publishing Co. Pte. Ltd.; 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014 ; Conference date: 21-07-2014 Through 23-07-2014",
year = "2014",
doi = "10.1142/9789814623353_0039",
language = "English",
isbn = "9789814623346",
series = "Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines",
publisher = "World Scientific Publishing Co. Pte Ltd",
pages = "335--342",
editor = "Krzysztof Kozlowski and Tokhi, {Mohammad O} and Virk, {Gurvinder S} and Virk, {Gurvinder S} and Virk, {Gurvinder S}",
booktitle = "Mobile Service Robotics",
address = "Singapore",
}