Modelling Early Infant Walking: Testing a Generic CPG Architecture on the NAO Humanoid
2011 (English)Conference paper (Refereed)
In this article, a simple CPG network is shown to model early infant walking, in particular the onset of independent walking. The difference between early infant walking and early adult walking is addressed with respect to the underlying neurophysiology and evaluated according to gait attributes. Based on this, we successfully model the early infant walking gait on the NAO robot and compare its motion dynamics and performance to those of infants. Our model is able to capture the core properties of early infant walking. We identify differences in the morphologies between the robot and infant and the effect of this on their respective performance. In conclusion, early infant walking can be seen to develop as a function of the CPG network and morphological characteristics.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. artikelnummer 6037318- p.
Early Walking, CPG, Morphology, Development, NAO
IdentifiersURN: urn:nbn:se:his:diva-7258DOI: 10.1109/DEVLRN.2011.6037318ISI: 000297472300007ScopusID: 2-s2.0-80055009067ISBN: 978-1-61284-990-4OAI: oai:DiVA.org:his-7258DiVA: diva2:606263
2011 IEEE International Conference on Development and Learning, ICDL 2011; Frankfurt am Main; 24 August 2011 through 27 August 2011; Category number CFP11294-ART; Code 87020