Neuromechanical Control for Dynamic Bipedal Walking with Reduced Impact Forces

Johannes Widenka, Xiaofeng Xiong, Jan-Matthias Braun, Florentin Wörgötter, Poramate Manoonpong

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Human walking emerges from an intricate interaction of nervous and musculoskeletal systems. Inspired by this
principle, we integrate neural control and muscle-like mechanisms to achieve neuromechanical control of the biped robot
RunBot. As a result, the neuromechanical controller enables RunBot to perform more human-like walking and reduce
impact force during walking, compared to original neural control. Moreover, it also generates adaptive joint motions of
RunBot; thereby allowing it to deal with different terrains
Original languageEnglish
Title of host publicationProceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics
Number of pages4
PublisherSWARM
Publication date2016
Publication statusPublished - 2016
Event1st International Symposium on Swarm Behavior and Bio-Inspired Robotics - Kyoto, Japan
Duration: 26. Oct 201528. Oct 2015
Conference number: 1

Conference

Conference1st International Symposium on Swarm Behavior and Bio-Inspired Robotics
Number1
Country/TerritoryJapan
CityKyoto
Period26/10/201528/10/2015

Bibliographical note

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