Download or read book Dynamic Balance of Bipedal Robot Based on Central Pattern Generators and Deep Reinforcement Learning written by Christos Kouppas and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Humanoid Robots written by Armando Carlos De Pina Filho and published by IntechOpen. This book was released on 2007-06-01 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion.

Download or read book Feedback Control of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and published by CRC Press. This book was released on 2018-10-03 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots. In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including: Mathematical modeling of walking and running gaits in planar robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

Download or read book Bipedal Robots written by Christine Chevallereau and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

Download or read book Central Pattern Generators for Gait Generation in Bipedal Robots written by Almir Heralic and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Central Pattern Generators for Gait Generation in Bipedal Robots.

Download or read book Reinforcement Learning of Locomotion Based on Central Pattern Generators written by and published by . This book was released on 2014 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Towards Autonomous Robotic Systems written by Charles Fox and published by Springer Nature. This book was released on 2021-10-30 with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume LNAI 13054 constitutes the refereed proceedings of the 22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021, held in Lincoln, UK, in September 2021.*The 45 full papers were carefully reviewed and selected from 66 submissions. Organized in the topical sections "Algorithms" and "Systems", they discuss significant findings and advances in the following areas: artificial intelligence; mechatronics; image processing and computer vision; special purpose and application-based systems; user interfaces and human computer interaction. * The conference was held virtually due to the COVID-19 pandemic.

Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.

Download or read book Design of Feedback Controllers for Biped Robots Based in Reinforcement Learning and Hybrid Zero Dynamics written by Guillermo A. Castillo-Martinez and published by . This book was released on 2019 with total page 45 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the design of feedback controllers for biped robots using techniques from the control theory and machine learning. A novel approach that combines Hybrid Zero Dynamics (HZD) and Reinforcement Learning (RL) is proposed to realize feedback controllers that achieve robust and stable walking limit cycles while tracking variable desired speed. The design of feedback controllers for bipedal locomotion is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. Existing RL approaches for bipedal walking are inefficient as they do not consider the underlying physics, often requires substantial training, and the resulting controller may not be applicable to real robots. HZD is a powerful tool for bipedal control with local stability guarantees of the walking limit cycles. In this thesis, we propose a sample-efficient, non-traditional RL structure that embeds the HZD framework into the policy learning process. More specifically, we propose to use RL to find a control policy that maps from the robot's reduced order states to a set of parameters that define the desired trajectories for the robot's joints through the virtual constraints. Then, these trajectories are tracked using an adaptive PD controller. The proposed method is validated through simulation of RABBIT, a well-know biped robot used as a testbed for advanced control techniques. The simulation is implemented using OpenAI's Gym with the MuJoCo physics engine. The result is a stable and robust control policy that is able to track variable desired speed within a wide interval. To keep the tracking performance of higher speeds the controller is able to get the robot into a running phase. Robustness of the policy is evaluated by applying external forces to the torso of the robot and comparing its performance with a traditional HZD-based controller.

Download or read book Reinforcement Learning second edition written by Richard S. Sutton and published by MIT Press. This book was released on 2018-11-13 with total page 549 pages. Available in PDF, EPUB and Kindle. Book excerpt: The significantly expanded and updated new edition of a widely used text on reinforcement learning, one of the most active research areas in artificial intelligence. Reinforcement learning, one of the most active research areas in artificial intelligence, is a computational approach to learning whereby an agent tries to maximize the total amount of reward it receives while interacting with a complex, uncertain environment. In Reinforcement Learning, Richard Sutton and Andrew Barto provide a clear and simple account of the field's key ideas and algorithms. This second edition has been significantly expanded and updated, presenting new topics and updating coverage of other topics. Like the first edition, this second edition focuses on core online learning algorithms, with the more mathematical material set off in shaded boxes. Part I covers as much of reinforcement learning as possible without going beyond the tabular case for which exact solutions can be found. Many algorithms presented in this part are new to the second edition, including UCB, Expected Sarsa, and Double Learning. Part II extends these ideas to function approximation, with new sections on such topics as artificial neural networks and the Fourier basis, and offers expanded treatment of off-policy learning and policy-gradient methods. Part III has new chapters on reinforcement learning's relationships to psychology and neuroscience, as well as an updated case-studies chapter including AlphaGo and AlphaGo Zero, Atari game playing, and IBM Watson's wagering strategy. The final chapter discusses the future societal impacts of reinforcement learning.

Download or read book Stable Locomotion Control of Bipedal Walking Robots written by Jianjuen Hu and published by . This book was released on 2000 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Autonomous Generation and Control of Central Pattern Generator Networks for Modular Robot Locomotion written by Kevin J. Gucwa and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular robots hold the promise of being a complete solution to many problems within science. Their adaptability within hardware and software can provide the right robot for each and every situation. Properly controlling the hardware with coordinated locomotion is challenging but essential for the modules to work together and perform the assigned tasks. This research study has developed a two tiered approach which can coordinate and control the locomotion of modular robots assembled into bio-inspired shapes. The lowest level of control is in the joint space whereby all joints need to perform the right actions at the right time to produce a collaborative effort that results in locomotion. To accomplish this the Central Pattern Generator (CPG) network concept is applied from spinal vertebrate locomotion control. Each joint within the robot contributes in a small way to produce a coordinated, collaborative motion utilizing the whole body in unison. On top of the CPG network is a controller derived from the brain's cerebellum control system to modulate the CPG network to perform specific tasks such as path following. To accomplish the CPG-based coordinate locomotion, a tool kit for automatically generating the Central Pattern Generator equations is presented. Robot shapes created in XML are read and parsed to determine sub-structures of the robot which adhere to common and known locomotion patterns for the specific modular robot currently utilized. Locomotion is based upon coordinated whole-body motion which is necessary for low-powered modular robots, such as the Linkbot used in this research, to create locomotion. By parsing the structure, the number of optimizable control parameters is drastically reduced to aid inefficient simulation of motion parameters. A simulation-based Genetic Algorithm process is used to generate motions and optimize the parameters of motion. The reduction in control parameters for large structures is an order of magnitude from the theoretical maximum. From simulated results of various shapes constructed out of the modules, the parsing of the shape increases the robot's linear speed when compared to optimizing all variables of the CPG network. The CPG networks capabilities are validated with hardware versions of the robots. Once the CPG network has been determined which effectively controls a particular shape of robot, the network can be modulated to produce specific locomotion capabilities. Coordination between the joints is created by the network to produce locomotion. The control scheme on top of the CPG network is necessary to create a robot that can move predictably and follow objective trajectories. Again the control system takes inspiration from biology to provide real-time control of the CPG network that is controlling the modular robot configurations. In this research the brain's cerebellum, which is in charge of modulating the walking characteristics of humans, is modeled to modulate the CPG network tocreate path-following robots. Waypoints are used to generate cubic spline paths for the robot; a camera is used to track the robot's heading in reference to the path; and the error in heading is passed into a fuzzy controller to convert the heading error into a turn signal that is applied to the robot's CPG network. The CPG network and controller are calculated online in real-time to follow the desired trajectories. Experiments have been completed within a simulation environment built specifically for the robots used. The robots are able to accurately track the various paths laid out irregardless of the complexity and length. Root Mean Square (RMS) error is calculated for each of the experiments and shows that the robots can maintain an error between five and twelve centimeters for paths that average eight meters in length. For the snake robot the robustness of the controller is checked by adjusting the friction between the robot and the ground. This controller is not affected by changes in friction which alter the motion characteristics of the CPG network.

Download or read book Rhythms of the Brain written by G. Buzsáki and published by Oxford University Press. This book was released on 2011 with total page 465 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies of mechanisms in the brain that allow complicated things to happen in a coordinated fashion have produced some of the most spectacular discoveries in neuroscience. This book provides eloquent support for the idea that spontaneous neuron activity, far from being mere noise, is actually the source of our cognitive abilities. It takes a fresh look at the coevolution of structure and function in the mammalian brain, illustrating how self-emerged oscillatory timing is the brain's fundamental organizer of neuronal information. The small-world-like connectivity of the cerebral cortex allows for global computation on multiple spatial and temporal scales. The perpetual interactions among the multiple network oscillators keep cortical systems in a highly sensitive "metastable" state and provide energy-efficient synchronizing mechanisms via weak links. In a sequence of "cycles," György Buzsáki guides the reader from the physics of oscillations through neuronal assembly organization to complex cognitive processing and memory storage. His clear, fluid writing-accessible to any reader with some scientific knowledge-is supplemented by extensive footnotes and references that make it just as gratifying and instructive a read for the specialist. The coherent view of a single author who has been at the forefront of research in this exciting field, this volume is essential reading for anyone interested in our rapidly evolving understanding of the brain.

Download or read book Quadrupedal Locomotion written by Pablo González de Santos and published by Springer Science & Business Media. This book was released on 2007-02-17 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.

Download or read book Biotensegrity written by Graham Melvin Scarr and published by Jessica Kingsley Publishers. This book was released on 2019-03-25 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: The emerging science of biotensegrity provides a fresh context for rethinking our understanding of human movement, but its complexities can be formidable. Biotensegrity: The Structural Basis of Life, Second edition - now with full color illustrations throughout - explores and explains the concept of biotensegrity and provides an understanding and appreciation of anatomy and physiology in the light of the latest research findings. The reader learns that biotensegrity is an evolving science which gives researchers, teachers, and practitioners across a wide range of specialisms, including bodyworkers and movement teachers, a deeper understanding of the structure and function of the human body. They are then able to develop clinical practice and skills in light of this understanding, leading to more effective therapeutic approaches, with the aim of improved client outcomes. The second edition provides expanded coverage of the developmental and therapeutic aspects of biotensegrity. Coverage now includes: A more thorough look at life's internal processes Closed kinematic chains as the new biomechanics Embryological development as an evolutionary process The human body as a constantly evolving system based on a set of unchanging principles Emergence, heterarchies, soft-matter and small-world networks A deeper look at what constitutes the therapeutic process

Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.