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There is evidence showing that animals have inherent rhythmic pattern generators called central pattern generator (CPG) that produce locomotion, respiration, heartbeat, and etc. Until now, the CPG has been widely used in robotic systems especially for locomotion. In this paper, we propose a gait adaptation method of biped robot for various terrains. The CPGs are used for creating desired joint angle...
Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There have been many researches to control robot actuated by pneumatic muscles, but conventional theories are hard to apply on real robot plants because of their assumptions and disregards of pneumatic muscle's physical aspects like size of pneumatic muscle and its controller....
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