A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

Xiaofeng Xiong*, Massimo Sartori, Strahinja Dosen, José González-Vargas, Florentin Wörgötter, Dario Farina

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    2 Downloads (Pure)

    Abstract

    It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a patterned muscle-reflex controller integrating feed-forward control with a muscle-reflex controller. In feed-forward control, the pattern generator is modeled as a Matsuoka neural oscillator that produces four basic activation patterns that mimic those extracted experimentally via electromyograms (EMGs). The associated weights of the patterns for 16 Hill-type musculotendon units (MTUs) are calculated based on a predictive model of muscle excitations under human locomotion. The weighted sums of the basic activation patterns serve as the pre-stimulations to muscle-reflex control of the Hill-type MTUs actuating a 2D-simulated biped. As a result, the proposed controller enables the biped to easily regulate its speed on an even ground by only adjusting the descending input. The speed regulation does not require re-optimizations of the controller for various walking speeds, compared to pure muscle-reflex controllers.

    Original languageEnglish
    Title of host publicationConverging clinical and engineering research on neurorehabilitation II
    Subtitle of host publicationproceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain
    EditorsJ. Ibanez, J. González-Vargas, J.M. Azorin, M. Akay, J.L. Pons
    PublisherSpringer
    Pages285-289
    Number of pages5
    ISBN (Electronic)978-3-319-46669-9
    ISBN (Print)978-3-319-46668-2
    DOIs
    Publication statusPublished - 2017

    Publication series

    NameBiosystems & Biorobotics
    PublisherSpringer
    Volume15
    ISSN (Print)2195-3562

    Fingerprint Dive into the research topics of 'A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms'. Together they form a unique fingerprint.

  • Cite this

    Xiong, X., Sartori, M., Dosen, S., González-Vargas, J., Wörgötter, F., & Farina, D. (2017). A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms. In J. Ibanez, J. González-Vargas, J. M. Azorin, M. Akay, & J. L. Pons (Eds.), Converging clinical and engineering research on neurorehabilitation II: proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain (pp. 285-289). (Biosystems & Biorobotics; Vol. 15). Springer. https://doi.org/10.1007/978-3-319-46669-9_49