[Improving the Crawling of a Humanoid Robot]
This semester project aims at improving the crawling of a humanoid robot based on contact feedback. I did experiments in the step down environment which acts on the forelimbs or the hips.
At first, I used central pattern generators (CPGs) which are neural networks located in the spine of vertebrates with the rhythmic patterns controlling locomotion. And also I took dynamical systems theory which allowed me to build general design methodologies for such controllers. For dynamical system in iCub, I optimized parameters with optimization algorithm PSO. Secondly, I integrated sensory feedback in the system and simulated four different experiments. Finally, I compared the results and drew conclusion on the project.
I compared four experiments in terms of a force in left and right hand and trajectory of robot
With Feedback, but only feedback to joint angles of elbows
With Feedback, fixed feedback to joint angles of both elbows and hips
With Feedback, adaptive feedback to joint angles of both elbows and hips