Central Pattern Generator with Defined Pulse Signals for Compliant-Resistant Control of Biped Robots

Area of Science:

• Robotics
• Control Systems
• Biomechanics

Background:

• Biped robots require robust balance control to withstand external forces.
• Human balance mechanisms offer inspiration for robotic systems.

Purpose of the Study:

• To propose a compliant-resistant balance-control method for biped robots subjected to external forces.
• To develop a model-free trajectory generator based on central pattern generators (CPGs) for human-like behavior.

Main Methods:

• Utilized Matsuoka's CPG to generate pulse signals for a model-free trajectory generator.
• Implemented a signal modulator to control the robot's center of mass (CoM) trajectory for double-foot stance.
• Directly applied CPG output to the hip joint for single-foot stance trajectory generation.
• Employed a motion engine to convert workspace trajectories into joint space values.

Main Results:

• The proposed control strategy successfully generated pulse signals for compliant-resistant balance control.
• The method demonstrated human-like balance responses in simulation.
• Verified the effectiveness of the control strategy in the NAO simulation environment.

Conclusions:

• The developed compliant-resistant balance-control method effectively maintains biped robot stability under external forces.
• CPG-based control offers a promising approach for achieving human-like dynamic balance in robots.