Robust control of a humanoid robot using a bio-inspired approach based on central pattern generators, reflexes, and proprioceptive feedback

摘要

This paper presents a biologically inspired control approach for the locomotion of humanoid robots based on a central pattern generator concept with additional balancing behavior which was tested on BIN-HUR, a modified Kondo KHR-1 robot equipped with a custom-made micro-controller board. The software concept is built up on a new behavior-based microkernel named Monster.