ICRA 2012 Paper Abstract

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Paper TuB02.3

Matsubara, Takamitsu (NAIST/ATR), Uchikata, Akimasa (NAIST/ATR), Morimoto, Jun (ATR Computational Neuroscience Labs)

Spatio-temporal Synchronization of Periodic Movements by Style-phase Adaptation: Application to Biped Walking

Scheduled for presentation during the Regular Session "Human Like Biped Locamotion" (TuB02), Tuesday, May 15, 2012, 11:00−11:15, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Learning and Adaptive Systems, Humanoid and Bipedal Locomotion, Biologically-Inspired Robots

Abstract

In this paper, we propose a framework for generating coordinated periodic movements of robotic systems with external inputs. We developed an adaptive pattern generator model that is composed of a two-factor observation model with style parameter and phase dynamics with a phase variable. The style parameter controls the spatial patterns of the generated trajectories, and the phase variable controls its temporal profiles. To validate the effectiveness of our proposed method, we applied it to a simulated humanoid model to perform biped walking behaviors coordinated with observed walking patterns and the environment. The robot successfully performed stable biped walking behaviors even when the style of the observed walking pattern and the period were suddenly changed.

 

 

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