Adaptive motor patterns and reflexes for bipedal locomotion on rough terrain

Abstract

The Bio-inspired Behavior-Based Bipedal Locomotion Control (B4LC) system consists of control units encapsulating feed-forward and feedback mechanisms, namely motor patterns and reflexes. To optimize the performance of motor patterns and reflexes in terms of stable locomotion on both even and uneven terrains, we present a learning scheme embedded in the B4LC… (More)
DOI: 10.1109/IROS.2015.7353919

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