— Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real h...
Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Chen...
Abstract. This paper proposes a new algorithm for the automatic segmentation of motion data from a humanoid soccer playing robot that allows feedforward neural networks to generali...
Rawichote Chalodhorn, Karl F. MacDorman, Minoru As...
Abstract. In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic approximation method, SPSA, which optimiz...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...