Abstract
AbstractFor the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central PatternGenerator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evolutionary algorithm is employed. Walking pattern generator is developed to generate trajectories of ankles and hip using CPG. The effectiveness of the proposed scheme is demonstrated by simulations and real experiments using a Webot dynamic simulator and a small sized humanoid robot, HSR-IX.KeywordsPosition ErrorLateral DirectionHumanoid RobotSensory FeedbackCentral Pattern GeneratorThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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