Humanoids that crawl: Comparing gait performance of iCub and NAO using a CPG architecture
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, 577-582 p.Conference paper (Refereed)
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. 577-582 p.
Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 4
CPG, Crawling, iCub, Infant development, NAO, Algebra, Network architecture, Robots, System theory, Computer architecture
IdentifiersURN: urn:nbn:se:his:diva-7262DOI: 10.1109/CSAE.2011.5952916ScopusID: 2-s2.0-80051897170ISBN: 9781424487257OAI: oai:DiVA.org:his-7262DiVA: diva2:606388
2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 10 June 2011 through 12 June 2011, Shanghai