The Interlimb Coordination Necessary For Biped's Locomotion
The interlimb’ coordination is necessary for biped’s locomotion. The lower limbs (left and right legs) and the upper limbs (left and right arm) are interoperated to serve as several proposed. The locomotion speed and step length are the primary visual output of the lower limbs interaction. At same output speed, the different legs’ length will provide the different not only in step length but also in stride frequency. In addition, the total weight of the robot body also affects the lower limbs’ speed and phase relation. Meanwhile, the upper limb, the essential part of biped locomotion, has historically been believed that the role of arm motion during walking is related to not only balancing[2] but also minimize energy consumption in biped locomotion.
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During this time, the humans are constrained to walk by the unusual walking patterns to avoid the discomfort that arises from the malfunction joints. Although, there are enormous numbers of biped walking control methods that are already done and demonstrated the ability to adaptive walk in wide range of terrain, there are only done with the faultless joints and flawless links. Meanwhile, the compensations method of malfunction joints or abnormal leg walking are few and usually focused only on the multi-legged robot [10-14]. It is still no clarity in the biped robots; therefore, it is a challenging issue that still no one else discovered entirely: how can biped robot do if it is moving in the anomalous conditions?
In CPG-based control, the possible technique to deal with the malfunction joints and the abnormal leg walking is to re-coordinate the actuation commands of all joints. The frequency, amplitude, and the phase relation of each joint and the phase relation of each limb should re-establish by re-adjusting or vary the parameters in CPG equations. Therefore, the parameter tuning and real-time adjusting become the extraordinary problems that require not only the time for finding but also the method of achieving the appropriate values of each
During this time, the humans are constrained to walk by the unusual walking patterns to avoid the discomfort that arises from the malfunction joints. Although, there are enormous numbers of biped walking control methods that are already done and demonstrated the ability to adaptive walk in wide range of terrain, there are only done with the faultless joints and flawless links. Meanwhile, the compensations method of malfunction joints or abnormal leg walking are few and usually focused only on the multi-legged robot [10-14]. It is still no clarity in the biped robots; therefore, it is a challenging issue that still no one else discovered entirely: how can biped robot do if it is moving in the anomalous conditions?
In CPG-based control, the possible technique to deal with the malfunction joints and the abnormal leg walking is to re-coordinate the actuation commands of all joints. The frequency, amplitude, and the phase relation of each joint and the phase relation of each limb should re-establish by re-adjusting or vary the parameters in CPG equations. Therefore, the parameter tuning and real-time adjusting become the extraordinary problems that require not only the time for finding but also the method of achieving the appropriate values of each