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Optimization Of Central Pattern Generators

BROWSE_DETAIL_CREATION_DATE: 15-02-2018

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BROWSE_DETAIL_TYPE: Thesis

BROWSE_DETAIL_SUB_TYPE: EngD

BROWSE_DETAIL_PUBLISH_STATE: Unpublished

BROWSE_DETAIL_FORMAT: PDF Document

BROWSE_DETAIL_LANG: English

BROWSE_DETAIL_SUBJECTS: Mathematics,

BROWSE_DETAIL_CREATORS: Elbori, Abd Alftah Elbasır Gumah (Author),

BROWSE_DETAIL_CONTRIBUTERS: Turan, Mehmet (Advisor),

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Central Pattern Generators, Stability Analysis, Optimization, Genetic Algortihm


BROWSE_DETAIL_TAB_ABSTRACT

Up to this day, it is one of themost difficult tasks to find the humanoid robot that is ableto move as dynamic and robust as humans do. Although there are many researchesthat have investigated bipedal locomotion, at current date, there is no robots withhuman’s capabilities.In this study, with regard to the optimization of the CPGs for bipedal locomotionin robots, three mathematical structures are discussed. This thesis also investigateshow different couplings of the CPGs such as uncoupled, unidirectional, bidirectional,are used to produce rhythmic patterns for one leg with two degrees of freedom. Ineach case of three types of the CPGs, stability analyzes is done. Bidirectional twoCPGs of the third type give us the best performance comparing with all other casesstudied here. When the parameters are taken from the stability region, it is seen thatsignificant results are achieved without any sensory feedback.


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