Authors:
Matthias Kubisch
;
Benjamin Werner
and
Manfred Hild
Affiliation:
Humboldt-Universität zu Berlin, Germany
Keyword(s):
Humanoid robots, Limit cycle walking, Co-existing attractors, Neural controller, Sensorimotor loop.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Bio-Inspired and Humanoid Robotics
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Computational Intelligence
;
Health Engineering and Technology Applications
;
Human-Computer Interaction
;
Methodologies and Methods
;
Neural Networks
;
Neurocomputing
;
Neurotechnology, Electronics and Informatics
;
Pattern Recognition
;
Physiological Computing Systems
;
Sensor Networks
;
Signal Processing
;
Soft Computing
;
Stability and Instability in Artificial Neural Networks
;
Theory and Methods
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.