Matsuoka’s CPG With Desired Rhythmic Signals for Adaptive Walking of Humanoid Robots

摘要

The desired rhythmic signals for adaptive walking of humanoid robots should have proper frequencies, phases, and shapes. Matsuoka's central pattern generator (CPG) is able to generate rhythmic signals with reasonable frequencies and phases, and thus has been widely applied to control the movements of legged robots, such as walking of humanoid robots. However, it is difficult for this kind of CPG to generate rhythmic signals with desired shapes, which limits the adaptability of walking of humanoid robots in various environments. To address this issue, a new framework that can generate desired rhythmic signals for Matsuoka's CPG is presented. The proposed framework includes three main parts. First, feature processing is conducted to transform the Matsuoka's CPG outputs into a normalized limit cycle. Second, by combining the normalized limit cycle with robot feedback as the feature inputs and setting the required learning objective, the neural network (NN) learns to generate desired rhythmic signals. Finally, in order to ensure the continuity of the desired rhythmic signals, signal filtering is applied to the outputs of NN, with the aim of smoothing the discontinuous parts. Numerical experiments on the proposed framework suggest that it can not only generate a variety of rhythmic signals with desired shapes but also preserve the frequency and phase properties of Matsuoka's CPG. In addition, the proposed framework is embedded into a control system for adaptive omnidirectional walking of humanoid robot NAO. Extensive simulation and real experiments on this control system demonstrate that the proposed framework is able to generate desired rhythmic signals for adaptive walking of NAO on fixed and changing inclined surfaces. Furthermore, the comparison studies verify that the proposed framework can significantly improve the adaptability of NAO's walking compared with the other methods.