Development of Humanoid Robot Locomotion Based on Biological Approach in EEPIS Robot Soccer (EROS)

摘要

In this paper we propose the development of EROS locomotion by using neural oscillator. We investigated muscular structure of human body for designing the neuron structure. Two motoric neurons, extensor neuron and flexor neuron, represent one structure of joint that generating the angle of joint. Sensoric neuron connection also designed for adapting the environment. Three kinds of sensor such as ground reaction sensor, tilt sensor, and angular velocity sensor are utilized for validate the proposed method. Evolutionary algorithm was used for optimizing synapse weight among motoric neuron, while recurrent neural network was used for the dynamical condition learning. The locomotion system of this research was shown using Open Dynamic Engine (ODE). The proposed method can generate locomotion pattern and its stability learning system improves the stability of locomotion. The proposed approach formed the walking locomotion that potentially can be developed to become adaptive locomotion.