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Title: Adaptive splitbelt treadmill walking of a biped robot using nonlinear oscillators with phase resetting
Authors: Fujiki, Soichiro
Aoi, Shinya  kyouindb  KAKEN_id
Yamashita, Tsuyoshi
Funato, Tetsuro
Tomita, Nozomi
Senda, Kei  kyouindb  KAKEN_id
Tsuchiya, Kazuo
Author's alias: 青井, 伸也
Keywords: Biped robot
Splitbelt treadmill walking
Central pattern generator
Phase resetting
Interlimb coordination
Issue Date: Jul-2013
Publisher: Springer US
Journal title: Autonomous Robots
Volume: 35
Issue: 1
Start page: 15
End page: 26
Abstract: To investigate the adaptability of a biped robot controlled by nonlinear oscillators with phase resetting based on central pattern generators, we examined the walking behavior of a biped robot on a splitbelt treadmill that has two parallel belts controlled independently. In an experiment, we demonstrated the dynamic interactions among the robot mechanical system, the oscillator control system, and the environment. The robot produced stable walking on the splitbelt treadmill at various belt speeds without changing the control strategy and parameters, despite a large discrepancy between the belt speeds. This is due to modulation of the locomotor rhythm and its phase through the phase resetting mechanism, which induces the relative phase between leg movements to shift from antiphase, and causes the duty factors to be autonomously modulated depending on the speed discrepancy between the belts. Such shifts of the relative phase and modulations of the duty factors are observed during human splitbelt treadmill walking. Clarifying the mechanisms producing such adaptive splitbelt treadmill walking will lead to a better understanding of the phase resetting mechanism in the generation of adaptive locomotion in biological systems and consequently to a guiding principle for designing control systems for legged robots.
Rights: The final publication is available at Springer via
この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。This is not the published version. Please cite only the published version.
DOI(Published Version): 10.1007/s10514-013-9331-6
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