Head Motion Stabilization During Quadruped Robot Locomotion: Combining CPGs and Stochastic Optimization Methods

Miguel Oliveira, Cristina P. Santos, Lino Costa, Ana Rocha and Manuel Ferreira
Additional contact information
Miguel Oliveira: University of Minho, Portugal
Cristina P. Santos: University of Minho, Portugal
Lino Costa: University of Minho, Portugal
Ana Rocha: University of Minho, Portugal
Manuel Ferreira: University of Minho, Portugal

International Journal of Natural Computing Research (IJNCR), 2011, vol. 2, issue 1, 39-62

Abstract: In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.

Date: 2011
References: Add references at CitEc
Citations:

Downloads: (external link)
http://services.igi-global.com/resolvedoi/resolve. ... 4018/jncr.2011010103 (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:igg:jncr00:v:2:y:2011:i:1:p:39-62

Access Statistics for this article

International Journal of Natural Computing Research (IJNCR) is currently edited by Xuewen Xia

More articles in International Journal of Natural Computing Research (IJNCR) from IGI Global
Bibliographic data for series maintained by Journal Editor ().