R. Zaier
Humanoid Locomotion Control and Reflex Using Van der Pol and Piecewise Linear Oscillators
R. Zaier: Mechanical and Industrial Engineering Department, Sultan Qaboos University, Sultanate of Oman, email: zaier@squ.edu.om
Abstract: Design of a network of oscillators to control the locomotion of a legged robot is a complex problem dealing with inverse kinematics and dynamics of more than 20 degree of freedom system. An attempt to simplify the design of a locomotion controller is introduced by combining a Piecewise Linear Oscillator (PWLO) and the Van Der Pol Oscillator (VDPO). The VDPO is considered as a master oscillator as it generates ...
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