Abstract
Gait planning is one of the main focuses in the research field of bipedal robotics. To enhance the stability and simplicity of gait planning for bipedal robots using central pattern generator (CPG) methods, this paper first refines the existing Kimura oscillator model. Subsequently, an improved oscillator model is employed to propose a novel configuration of CPG network for flat walking gait planning in bipedal robots. A particle swarm algorithm with variable structural parameters is utilized to optimize the parameters of the CPG network, with the optimization objective being the maximization of stability margin at zero moment points (ZMP) during the walking process of the bipedal robot. Finally, an ADAMS simulation experiment platform is established to validate the feasibility of this method through simulation experiments. The experimental results indicate that this approach enables bipedal robots to achieve stable walking motion on a flat surface.
Similar content being viewed by others
Data availability
The data that support the findings of this study are available from the corresponding author, Wang, upon reasonable request.
References
Katayama S, Murooka M, Tazaki Y (2023) Model predictive control of legged and humanoid robots: models and algorithms. Adv Robot 37(5):298–315
Hayder FN, Al-Shuka AF, Corves B, Wen-Hong Z (2014) Modeling, stability and walking pattern generators of biped robots: a review. Robotica 32(6):907–934
Chen Y (2023), Walking problem of bipedal humanoid robot: comparison between model-based and learning-based method. 2023 IEEE 3rd International Conference on Power, Electronics and Computer Applications (ICPECA), IEEE, pp.1629–1633.
Sun Y, Ubellacker WL, Ma WL et al (2021) Online learning of unknown dynamics for model-based controllers in legged locomotion. IEEE Robot Autom Lett 6(4):8442–8449
Collins S, Ruina A, Tedrake R, Wisse M (2005) Modeling, efficient bipedal robots based on passive-dynamic walkers. Science 307(5712):1082–1085
Auke Jan Ijspeert (2008) Central pattern generators for locomotion control in animals and robots: A review. Neural Netw 21(4):642–653
Reil T, Husbands P (2002) Evolution of central pattern generators for bipedal walking in a real-time physics environment. IEEE Trans Evol Comput 6(2):159–168
Taga G, Yamaguchi Y, Shimizu H (1991) Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Biol Cybern 65(3):147–159
Ishiguro A, Fujii A, Eggenberger P (1999) Neuromodulated control of bipedal locomotion using a polymorphic CPG circuit. Adapt Behav 11(1):7–17
Liu GL, Habib MK, Watanable K, Izumi K (2007) The design of central pattern generators based on the matsuoka oscillator to generate rhythmic human-like movement for biped robots. J. Adv Comput Intell and Intell Inform 11(8):946–955
Liu GL, Habib MK, Watanable K, Izumi K (2008) Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots. Artific Life Robot 12(1–2):264–269
Liu CJ, Wang DW, Chen QJ (2013) Central pattern generator inspired control for adaptive walking of biped robots. IEEE Trans Syst Man Cybern-Syst 43(5):1206–1215
Julian C, Domenec P, Miguel A G (2013), Locomotion Control of a Biped Robot through a Feedback CPG Network. In: ROBOT2013: First Iberian Robotics Conference. Springer, pp.527–540
Auddy S, Magg S, Wermter S (2017), Hierarchical Control for Bipedal Locomotion using Central Pattern Generators and Neural Networks. 9th Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), IEEE, pp.13–18.
Kimura H, Akiyama S, Sakurama K (1999) Realization of dynamic walking and running of the quadruped using neural oscillator. Auton Robot 7(3):247–258
Zhen HJ, Zhang XL (2011) Biological control methods and applications of foot robot. Tsinghua University Press, Bei Jing (in Chinese)
Karim M, Mohsen F, Saeed SG (2016) Omnidirectional walking using central pattern generator. Int J Mach Learn Cybern 7(6):1023–1033
Prakash C, Kumar R, Mittal N (2023) Recent developments in human gait research: parameters, approaches, applications, machine learning techniques, datasets and challenges. Artif Intell Rev 49(1):1–40
Wu YH, Zeng ZG, Deng B (2021) Particle swarm algorithm based on dynamic adjustment of inertia weights and learning factors. J Hunan Univ Technol 35(1):91–96 ((in Chinese))
Fu GP, Yang YM, Chen JP, Li J (2021) Walking control for humanoid robot based on ZMP error correction. Robot 35(1):39–44 ((in Chinese))
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
About this article
Cite this article
Jianyuan, W., Siyu, L. & Jinbao, C. A CPG-based gait planning method for bipedal robots. Artif Life Robotics (2024). https://doi.org/10.1007/s10015-024-00947-6
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10015-024-00947-6