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Bio-inspired Decentralized Architecture for Walking of a 5-link Biped Robot with Compliant Knee Joints

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  • Robot and Applications
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Abstract

Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamically walking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control units for each joint at the lower layer. In order to stabilize the system, these units are driven by a sensory feedback from the posture of the robot. A central stabilizing controller at the upper layer arises in case of failing the units to stabilize the system. Consequently, the units adapt themselves by including online learning mechanism. We show that using this architecture, a highly unstable system can be stabilized with identical simple controller units even though they do not have any feedback from all other units of the robot. Moreover, this architecture may help to better understand the complex motor tasks in human.

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Authors and Affiliations

  1. School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

    Masoud Yazdani, Hassan Salarieh & Mahmoud Saadat Foumani

Authors
  1. Masoud Yazdani
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  2. Hassan Salarieh
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  3. Mahmoud Saadat Foumani
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Corresponding author

Correspondence to Hassan Salarieh.

Additional information

Recommended by Associate Editor Kang-Hyun Jo under the direction of Editor Hyun-Seok Yang.

Masoud Yazdani received his B.S. and M.Sc. degrees in mechanical engineering from Sharif University, Tehran, Iran, in 2008 and 2010 respectively. He is currently pursuing a Ph.D. degree in the Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran. His research interests include development, modeling and control of bio-inspired robots, especially control of legged robots.

Hassan Salarieh received his BSc in mechanical engineering and also pure mathematics from Sharif University of Technology, Tehran, Iran in 2002. He graduated from the same university with M.Sc and Ph.D. degrees in mechanical engineering in 2004 and 2008. At present, he is a professor in mechanical engineering at Sharif University of Technology. His fields of research are dynamical systems, control theory and stochastic systems.

Mahmood Saadat Foumani received his Ph.D. degree in Mechanical Engineering from Sharif University of Technology, Tehran, Iran in 2002. He was a Faculty member at Semnan University from 2002 to 2006 and is now a faculty member of Sharif University of Technology, Mechanical Engineering Department. He teaches courses at the ‘Applied Design group’ at undergraduate and graduate levels. His teaching focuses on mechanical Engineering design, vehicle dynamics and chassis design and advanced mathematics.

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Yazdani, M., Salarieh, H. & Foumani, M.S. Bio-inspired Decentralized Architecture for Walking of a 5-link Biped Robot with Compliant Knee Joints. Int. J. Control Autom. Syst. 16, 2935–2947 (2018). https://doi.org/10.1007/s12555-017-0578-0

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  • DOI: https://doi.org/10.1007/s12555-017-0578-0

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