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Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style-phase adaptation
Takamitsu Matsubara1,2, Akimasa Uchikata3,4, Jun Morimoto5
1Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan. takam-m@is.naist.jp.
Biological Cybernetics
|October 14, 2015
Summary
This study introduces a novel adaptive pattern generator for robots, enabling coordinated movements with external inputs. The framework successfully adapted exoskeleton robots for user-assisted walking, even with sudden changes in user patterns.
Area of Science:
- Robotics
- Control Systems
- Human-Robot Interaction
Background:
- Coordinated periodic movements are crucial for robotic systems interacting with dynamic environments and multiple inputs.
- Existing methods often struggle to independently adapt spatial and temporal movement profiles to external factors.
Purpose of the Study:
- To propose a framework for generating coordinated periodic movements in robotic systems with multiple external inputs.
- To develop an adaptive pattern generator model that separates spatial (style) and temporal (phase) control.
Main Methods:
- Developed a two-factor observation model with a style parameter for spatial control and phase dynamics for temporal control.
- Exploited style-phase separation for independent adaptation schemes to multiple external inputs.
- Validated the framework using a user-exoskeleton model for adaptive walking assistance.
Main Results:
- The adaptive pattern generator successfully controlled spatial and temporal profiles independently.
- The exoskeleton robot demonstrated stable biped walking assistance, adapting to user walking patterns.
- The system showed robustness to sudden changes in walking pattern style and period.
Conclusions:
- The proposed framework enables effective generation of coordinated periodic movements for robotic systems.
- Independent adaptation of spatial and temporal profiles enhances adaptability to external inputs, as shown in user-adaptive walking assistance.
