@inproceedings{95ea92fba6cf4e40a236e02c1c35658f,
title = "Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion",
abstract = "Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a {"}minimalist{"} bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion.",
keywords = "bipedal locomotion, discrepancy, inter- and intra-limb coordination",
author = "Dai Owaki and Takeshi Kano and Atsushi Tero and Masakazu Akiyama and Akio Ishiguro",
year = "2013",
doi = "10.1007/978-3-642-33932-5_45",
language = "English",
isbn = "9783642339318",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
number = "VOL. 2",
pages = "493--502",
booktitle = "Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012",
address = "Germany",
edition = "VOL. 2",
note = "12th International Conference on Intelligent Autonomous Systems, IAS 2012 ; Conference date: 26-06-2012 Through 29-06-2012",
}