Author(s):
Pinto, Carla M. A. 
; Rocha, Diana ; Santos, Cristina ; Matos, Vítor
Date: 2011
Persistent ID: http://hdl.handle.net/1822/15327
Origin: RepositóriUM - Universidade do Minho
Subject(s): Stability; CPG; Modolar locomotion; Rhythmic primitive; Discrete primitive
Description
Robot locomotion has been a major research issue in the last decades. In particular, humanoid robotics has had a
major breakthrough. The motivation for this study is that bipedal locomotion is superior to wheeled approaches on real terrain
and situations where robots accompany or replace humans. Some examples are, on the development of human assisting device,
such as prosthetics, orthotics, and devices for rehabilitation, rescue of wounded troops, help at the office, help as maidens,
accompany and assist elderly people, amongst others. Generating trajectories online for these robots is a hard process, that
includes different types of movements, i.e., distinct motor primitives. In this paper, we consider two motor primitives: rhythmic
and discrete.We study the effect on a bipeds robots’ gaits of inserting the discrete part as an offset of the rhythmic primitive, in
synaptic and diffusive couplings. Numerical results show that amplitude and frequency of the periodic solution, corresponding
to the gait run are almost constant in all cases studied here.
