Yang, Woosung Kim, Hyungjoo You, Bum Jae 2024-01-20T13:02:15Z 2024-01-20T13:02:15Z 2022-01-25 2013-02 1729-8806 https://pubs.kist.re.kr/handle/201004/128382 Despite recent major advances in computational power and control algorithms, the stable and robust control of a bipedal robot is still a challenging issue due to the complexity and high nonlinearity of robot dynamics. To address the issue an efficient and powerful alternative based on a biologically inspired control framework employing neural oscillators is proposed and tested. In a numerical test the virtual force controller combined with the neural oscillator of a humanoid robot generated rhythmic control signals and stable bipedal locomotion when coupled with proper impedance components. The entrainment nature inherent to neural oscillators also achieved stable and robust walking even in the presence of unexpected disturbances, in that the centre of mass (COM) was successfully kept in phase with the zero moment point (ZMP) input trajectory. The efficiency of the proposed control scheme is discussed alongside simulation results. English SAGE PUBLICATIONS INC Biologically Inspired Self-Stabilizing Control for Bipedal Robots Article 10.5772/55463 1 International Journal of Advanced Robotic Systems, v.10 International Journal of Advanced Robotic Systems 10 N scie scopus 000316499000001 2-s2.0-84876898262 Robotics Robotics Article MUSCULO-SKELETAL SYSTEM HUMAN LOCOMOTION MODEL Biologically Inspired Control Neural Oscillator Bipedal Robot Locomotion