Junshi Cheng

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Recently, the field of humanoid robotics attracts more and more interests and the research on humanoid locomotiou based on Central Pattern Generators (CPGs) reveals many challenging aspects. This paper describes the design of CPGs for stable humanoid bipedal locomotion using an evolutionary approach. In this research, each joint of the humanoid is driven by(More)
Authors of this paper have made experimental s tudy on quadruped walking robot climbing and walking down the slope with JTUWM-I1 a quadruped robot designed and constructed by Shanghai Jiao Tong University. A scheme that the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. A n algorithm for t h e body(More)
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