Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting

摘要

In this paper, we investigate the locomotor behaviors of a biped robot on a splitbelt treadmill using a locomotion-control system composed of nonlinear oscillators with phase resetting. Our results show that the robot establishes stable walking on the treadmill at various speeds of the belts due to modulation of the rhythm and phase by phase resetting. In addition, the phase differences between the leg movements shifted from out of phase, and duty factors were autonomously modulated depending on the speed discrepancy between the belts occurring through dynamic interactions among the robot's mechanical system, the oscillator control system, and the environment. Such shifts of phase differences between the leg movements and modulations of duty factors are observed during human splitbelt treadmill walking, and our results suggest that our dynamic model using the robot and oscillator control system reflects a certain essence of the ability to produce adaptive locomotor behaviors.