Gait Transition Between Simple and Complex Locomotion in Humanoid Robots
In this paper, we present the gait transition between rhythmic and non-rhythmic behaviors during walking of a humanoid robot Nao. In biological studies, two kinds of locomotion were observed in cat during walking on a flat terrain and on a ladder (simple and complex walking). Both behaviors were obtained on the robot thanks to the multi-layers multi-patterns central pattern generator model. We generate the rhythmic behavior from the non-rhythmic one based on the frequency of interaction between the robot feet and the ground surface during the complex locomotion. Although the complex locomotion requires a sequence of descending control signals to drive each robot step, the simple one requires only a triggering signal to generate the periodic movement. The overall system behavior fits with the biological findings in cat locomotion.
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