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Biological inspiration used for robots motion synthesis
1Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul. Nowowiejska 24, Warsaw, Poland. teresaz@meil.pw.edu.pl
Abstract:
This work presents a biologically inspired method of gait generation. Bipedal gait pattern (for hip and knee joints) was taken into account giving the reference trajectories in a learning task. The four coupled oscillators were taught to generate the outputs similar to those in a human gait. After applying the correction functions the obtained generation method was validated using ZMP criterion. The formula suitable for real-time motion generation taking into account the positioning errors was also formulated. The small real robot prototype was tested to be able walk successfully following the elaborated motion pattern.
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