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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, School of Humanities and Informatics.
University of Skövde, School of Humanities and Informatics.
University of Skövde, School of Humanities and Informatics.
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)
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. 577-582 p.
Series
Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, 4
Keyword [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.2011.5952916ScopusID: 2-s2.0-80051897170ISBN: 9781424487257OAI: oai:DiVA.org:his-7262DiVA: 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: 2013-03-14

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