Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach

Author
Keywords
Abstract
Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning.
Year of Publication
2018
Journal
International Journal of Interactive Multimedia and Artificial Intelligence
Volume
5
Issue
Regular Issue
Number
1
Number of Pages
40-46
Date Published
06/2018
ISSN Number
1989-1660
Citation Key
URL
http://www.ijimai.org/journal/sites/default/files/files/2017/10/ijimai_5_1_5_pdf_20509.pdf
DOI
10.9781/ijimai.2017.10.001
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