NDLI: Self-stabilized biped walking under control of a novel reflexive network

Content Provider	IEEE Xplore Digital Library
Author	Tao Geng Porr, B. Worgotter, F.
Copyright Year	2005
Description	Author affiliation: Computational Neurosci., Stirling Univ., UK (Tao Geng; Porr, B.; Worgotter, F.)
Abstract	Biologically inspired reflexive controllers have been implemented on various walking robots. However, due to the natural instability of biped walking, up to date, there has not existed a biped robot that depends exclusively on reflexive controllers for its dynamically stable walking control. In this paper, we present our design and experiments of a planar biped robot under control of a pure reflexive controller that includes only local extensor and flexor reflexes (no any other reflexes for explicit stability control). The reflexive controller is built with biologically inspired stretch receptors and model neurons. It requires fewer phasic feedbacks than those reflexive controllers of multilegged robots, and does not employ any kind of position or velocity control algorithm even on its low level. Instead, the approximate property of this reflexive controller has allowed our biped robot to substantially exploit its own passive dynamics in some stages of its walking gait cycle. Due to the interaction of the reflexive controller and the properly designed mechanics of the robot, the biped robot works as a closely coupled neuromechanical system, and demonstrates self-stabilizing property in the experiments of slightly perturbed walking, shallow slope walking, and various speed walking. Moreover, our biped robot can walk stably at a relatively high speed (nearly three leg-lengths per second). We know of no other biped robots that could attain such a high relative speed.
Starting Page	3269
Ending Page	3274
File Size	263990
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545449
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Biological control systems Robot control Velocity control Stability Biological system modeling Neurons Neurofeedback Control systems Mechanical factors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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