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CPG Based Joint Modification Method to Improve an Adaptation Ability on Slop Terrains for Humanoid Robots

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Abstract

The paper proposes generation methods for humanoid robot walking using a central pattern generator (CPG) based joint modification method to improve the adaptation ability on various slop terrains. Although CPG has basic adaptation ability for the different terrains, but it might be limited to small variations of those. In order to increase terrain adaptability we supplement the modification of joints using genetic algorithm on the output signals of the CPG oscillators. We have tested the two methods to investigate an adaptation capabilities of humanoid walking on various slope terrains with different slope angles using the humanoid robot Nao in the Webot simulation. The performances of humanoid walking on various slope terrains are analyzed.

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Acknowledgements

This work was supported by National Research Foundation of Korea Grant funded by the Korea government (NRF-2016R1D1A1A09919650).

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Authors and Affiliations

  1. Department of Electronics Engineering, Seokyeong University, Seoul, Korea

    Deokhwan Kyeong & Kisung Seo

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  1. Deokhwan Kyeong
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  2. Kisung Seo
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Correspondence to Deokhwan Kyeong.

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Kyeong, D., Seo, K. CPG Based Joint Modification Method to Improve an Adaptation Ability on Slop Terrains for Humanoid Robots. J. Electr. Eng. Technol. 14, 941–946 (2019). https://doi.org/10.1007/s42835-019-00128-7

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  • DOI: https://doi.org/10.1007/s42835-019-00128-7

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