USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT

Matthias Kubisch, Benjamin Werner, Manfred Hild

Abstract

The implementation of a biped robot gait is a challenging task within the field of mobile robotics. Particularly, when the robot is subject to unknown disturbance in constantly changing terrain, a stable and robust gait is crucial. Regarding the machine together with the controller as an integrated system, the Dynamical Systems Approach yields a new perspective on legged robots. So called Limit CycleWalkers have shown their inherent stability against moderate disturbances of different kinds because gaits can be constructed as attractors of the dynamical system. Here, we will show how co-existing attractors in neural sensorimotor loops can be used for the construction of robot gaits and for easy switching among behaviours. The results are demonstrated using a humanoid robot with neural control and it is shown that walking and standing upright can be implemented as co-existing attractors of the same pure sensorimotor loop.

References

  1. Collins, S. H. (2005). A Bipedal Walking Robot with Efficient and Human-Like Gait. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1995-2000.
  2. Guckenheimer, J. and Holmes, P. (1983). Nonlinear Oscillations, Dynamical Systems and Bifurcations of Vector Fields. Springer-Verlag, New York.
  3. Hein, D. (2007). Simloid: Evolution of Biped Walking Using Physical Simulation. Master's thesis, Department of Computer Science, Humboldt-Universität zu Berlin.
  4. Hein, D., Hild, M., and Berger, R. (2007). Evolution of biped walking using neural oscillators and physical simulation. In RoboCup 2007: Proceedings of the International Symposium LNAI, Springer.
  5. Höfer, S. and Hild, M. (2010). Using Slow Feature Analysis to Improve the Reactivity of a Humanoid Robot's Sensorimotor Gait Pattern. In Proceedings of the International Conference on Neural Computation (ICNC).
  6. Hild, M. (2007). Neurodynamische Module zur Bewegungsteuerung autonomer mobiler Roboter. PhD thesis, Department of Computer Science, Humboldt-Universität zu Berlin.
  7. Hild, M. and Kubisch, M. (2011). Self-Exploration of Autonomous Robots Using Attractor-Based Behavior Control and ABC-Learning. In Proceedings of the 11th Scandinavian Conference on Artificial Intelligence, Trondheim, Norway.
  8. Hild, M., Kubisch, M., and Göhring, D. (2007). How to Get from Interpolated Keyframes to Neural Attractor Landscapes - and Why. In Proceedings of the 3rd European Conference on Mobile Robots, Freiburg, Germany.
  9. Hild, M., Siedel, T., Benckendorff, C., Kubisch, M., and Thiele, C. (2011). Myon: Concepts and Design of a Modular Humanoid Robot Which Can Be Reassembled During Runtime. In Proceedings of the 14th International Conference on Climbing and Walking Robots, Paris, France.
  10. Kubisch, M., Benckendorff, C., and Hild, M. (2011). Balance recovery of a humanoid robot using cognitive sensorimotor loops (CSLs). In Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines.
  11. Martius, G., Fiedler, K., and Herrmann, J. M. (2008). Structure from Behavior in Autonomous Agents. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 858-862.
  12. Pasemann, F., Hild, M., and Zahedi, K. (2003). SO(2)- Networks as Neural Oscillators. In Proceedings of the International Work Conference on Artificial and Natural Neural Networks (IWANN), pages 144-151.
  13. Richter, E. (2011). Redesign und Fertigung eines Fußes für humanoide Roboter. Master's thesis, Leibniz Institute of Polymer Research, Technische-Universität Dresden.
  14. Schneider, A. (2006). Local Positive Velocity Feedback for the Movement Control of Elastic Joints in Closed Kinematic Chains: A Modelling and Simulation Study of a 2DoF Arm and a 3DoF Insect Leg. PhD thesis, Department of Biology, Universität Bielefeld.
  15. Solomon, J. H., Wisse, M., and Hartmann, M. J. (2010). Fully Interconnected, Linear Control for Limit Cycle Walking. Adaptive Behavior, 18.
  16. Thompson, J. M. T. and Stewart, H. B. (1986). Nonlinear Dynamics and Chaos. Wiley, Chichester U.K.
  17. Werner, B. (2008). Sensomotorische Erzeugung eines Gangmusters für humanoide Roboter. Studienarbeit am Lehrstuhl für Künstliche Intelligenz, HumboldtUniversität zu Berlin.
Download


Paper Citation


in Harvard Style

Kubisch M., Werner B. and Hild M. (2011). USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT . In Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011) ISBN 978-989-8425-84-3, pages 385-390. DOI: 10.5220/0003682203850390


in Bibtex Style

@conference{ncta11,
author={Matthias Kubisch and Benjamin Werner and Manfred Hild},
title={USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT},
booktitle={Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011)},
year={2011},
pages={385-390},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003682203850390},
isbn={978-989-8425-84-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2011)
TI - USING CO-EXISTING ATTRACTORS OF A SENSORIMOTOR LOOP FOR THE MOTION CONTROL OF A HUMANOID ROBOT
SN - 978-989-8425-84-3
AU - Kubisch M.
AU - Werner B.
AU - Hild M.
PY - 2011
SP - 385
EP - 390
DO - 10.5220/0003682203850390