期刊名称：Lecture Notes in Engineering and Computer Science
印刷版ISSN：2078-0958
电子版ISSN：2078-0966
出版年度：2018
卷号：2233&2234
页码：515-519
出版社：Newswood and International Association of Engineers
摘要：In this paper, as a control method of a biped
walking robot, an adaptive Central Pattern Generator (CPG)
using Hopf oscillator whose output can be synthesized by
teaching signal is designed. Also, the adaptive CPG with
teaching signal are tested on both computational model and
experimental system of seven-linked planner biped robot
developed in this research. Furthermore, in order to achieve
human-like stabilized walking, sensory feedbacks of upper body
posture angle and foot force information are implemented to
the controller. In the end, the effect of the sensory feedback on
stabilizing the walking motion is investigated through
experimental works.
关键词：Biped Walking Robot; Semi-Passive Walking;;
Central Pattern Generator; Hopf Oscillator
