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Humanoids that crawl: Comparing gait performance of iCub and NAO using a CPG architecture
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre. (Cognition & Interaction Lab)ORCID iD: 0000-0002-7236-997X
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre. (Cognition & Interaction Lab)ORCID iD: 0000-0002-1525-0745
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre. (Cognition & Interaction Lab)
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre. (Cognition & Interaction Lab)ORCID iD: 0000-0001-6883-2450
2011 (English)In: Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 / [ed] Shaozi Li, Ying Dai, IEEE conference proceedings, 2011, p. 577-582Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a generic CPG architecture is used to model infant crawling gaits and is implemented on the NAO robot platform. The CPG architecture is chosen via a systematic approach to designing CPG networks on the basis of group theory and dynamic systems theory. The NAO robot performance is compared to the iCub robot which has a different anatomical structure. Finally, the comparison of performance and NAO whole-body stability are assessed to show the adaptive property of the CPG architecture and the extent of its ability to transfer to different robot morphologies. © 2011 IEEE.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. p. 577-582
Series
Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 ; 4
Keywords [en]
CPG, Crawling, iCub, Infant development, NAO, Algebra, Network architecture, Robots, System theory, Computer architecture
Identifiers
URN: urn:nbn:se:his:diva-7262DOI: 10.1109/CSAE.2011.5952916Scopus ID: 2-s2.0-80051897170ISBN: 978-1-4244-8725-7 (print)ISBN: 978-1-4244-8728-8 (electronic)ISBN: 978-1-4244-8727-1 (print)ISBN: 978-1-4244-8726-4 (electronic)OAI: oai:DiVA.org:his-7262DiVA, id: diva2:606388
Conference
2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 10 June 2011 through 12 June 2011, Shanghai
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2024-05-21Bibliographically approved

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Li, CaiLowe, RobertDuran, BorisZiemke, Tom

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