1

Biologically Inspired locomotion control &

HOAP-1 bipedal walking
Autonomous System Lab, Fujitsu Lab
2
Outline
Traditional legged robot control & Biological-
inspired control strategy
Neural mechanism for CPG-based locomotion
Sensory integration and reflex for spinal controller
Forward dynamics based simulation
HOAP-1 walking
Primary results and future works


3
Locomotion in Legged Robotics
Control strategies for legged
locomotion

Model based plan
Behavior based reaction chain
Limit-cycle based Dynamics (CG)
Passive walking
Problems?
4
Biological inspired robotics

Not duplication of the total bio-systems.
That would not be possible.
The main points are:
Take the knowledge from sensory and motor
research in biological systems implement that
knowledge in the design of our biologically
inspired robots.
The biologically inspired approach provides for
flexible and versatile robotic systems. It also
provides a basis for intelligent control and
autonomous behavior.
Engineering autonomous humanoid robots will
help us really understand the nature of human
locomotion control
Controller Robot plant
Selected
feedback
Biological
Controller
Bio-robot
Biological
Controller
Bio-robot
{
So, whats the difference?
5
Cyclic locomotion mechanism
Neural system
Motor commands:
1 descending input to PG
2 PG motor commands
3 motoneuron outputs
4 descending supraspinal motor commands
Feedback pathways:
5 local spinal reflex pathways
6 reflex pathways to PG
7 supraspinal reflex pathways
8 ascending signals from SSC to PG
9 ascending signals from SSC to supraspinal center
10 ascending PG output
Modulatory pathways
11 supraspinal modulation of PG reflexes
12 PG modulation of spinal reflexes
13 supraspinal modulation of spinal reflexes
Supraspinal
Center
Patt ern Generator
(PG)
Spinal Segment al Cirtuitry
(SSC)
Musculoskeletal Sy st em
1 11
2 12
3
10
9
8
5
6
7
4
13
Spinal
controller
?
6
Pattern Generator (PG)
Also called Central Pattern Generator
(CPG), is a group of nonlinear
oscillatory neurons that is capable of
generating oscillatory output in the
absence of phasic inputs.


1
2
Constant tonic
imput c
Sign
Function
Sign
Function
Constant tonic
imput c
[ ]
ij j
a g
+

[ ]
ij j
a g

1
v |
2
v |
1
x
2
x
2
[ ] x e
+
1
[ ] x e

1 2 out
y y y =
1 1
[ ] y x
+
=
2 2
[ ] y x
+
= They are governed by:
7
Control mechanism of CPG
constant rhythmic signal generator
the regulation of the tonic stimulus intensity of the whole
inputs;
the temporary change of input in the networks potentially
producing more than one rhythm;
the change of synaptic weights;
the alteration of part of stimuli;
Entrainment effect with sinusoid function
The target of using CPG is: get the right timing!
Most important and interesting property: Entrain the outside inputs!
Sin input
CPG output
F E
Two CPG coupled together
Special emphasis on some very
recent developments which
support the view that there is a
human spinal CPG for
locomotion.
8
Motoneuron & Peripheral feedback
Major sensory system in locomotion
Vision system
Vestibular system
Somatosensory system
Motoneuron model
) (
0
.
m m
m m m
j
j mj m m m m
m
m
u sigmoid y
Cu CPG d Spin b Gol a Const u u T
=
+ + + + + =

=
Stretch & load receptor reflexes
Cutaneous reflexes
Why need motoneuron model?(Amplitude)
CPG shaper
General framework for reflex integration
Controller flexibility enhancement
Biological plausible
9
State dependant sensory feedback
The sensory feedback to spinal controller
is state dependant, the different walking
state is decided by vestibular sensor and
COM-COG relationship.
Initial
Contact
Loading
Response
Mid
Stance
Terminal
Stance
Pre-
Swing
Initial
Swing
Mid
Swing
Terminal
Swing
10
Multibody dynamics system
The mechanical system has a mind of its own, governed by the physical structure and laws of
physics. (Raibert & Hodgins)
Contact force, ground static&kinetic fiction, joint fiction, and passive visco-elastic joint limit
integrated
Featherstone's method ( O(n) ) for multibody forward dynamics.


Link Link End link
Free Base link
Tree 1
Environment
Contact
force
.
.
.
Forward Kinematics
Backward Dynamics
Forward Accelerations
Tree N
11
System construction
Robot leg DOF configuration:
Hip 2(pitch, roll), Knee 1 (pitch), Ankle 2(pitch, roll)
CPGs:
Coupled with each joint, total 10 CPGs
Motoneurons and virtual muscles:
According to the simplified anatomy muscle model,
total 18 motoneurons, each drives one muscle.




Multibody forward
dynamics
CPG
Motoneuron circuits
Activation dynamcis
Contraction dynamcis
Passive
muscle force
}
}
u

u
u

Body
geometry
Vestibular
system
Vestibular
controller
Body linear acc
Angular acc
Muscle
force
Activation acitivity
Motor acitivity
Muscle
length
velocity
passive
force
Body geometry
Joint torque
Somatosensory
system
Environment
contact
feedback
CPG acitivity
Spinal
controller
Body position,
orientation of
gravity
COG COP
12
Forward dynamics optimization
MOGA
System
builder
Spinal controller
System parameter
string
fitness
Forward Dynamics Inverse Dynamics
more nonlinear control, physical correct and faithful simulation
Rough simulation, easier control
Joint velocity
(position)
motion planning
Joint acceleration
motion planning
Joint torque
motion control
Muscle force based
motion control
Muscle main dynamics
based motion control
Muscle fulldynamics
based motion control
Muscle and MN dynamics
based motion control
Muscle,MNand CPG dynamics
based motion control
Muscular-skeletal
dynamics
Spinal
dynamics
Brain
dynamics
?
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What we learned (1) :
Total System
High dimensional locomotion control
system (humanoid robot) are closely
coupled!
Motor output is constantly modified by both neural
and mechanical feedback.
CPG can not work along for such a total system
although this idea is conflict with the definition of
CPG (is it really Central?)
Neural signals are not commands but suggestions
sent to a mechanical system possessing its own
behavior realized through its physical interaction
with the environment.
Because neural and mechanical systems are
dynamically coupled to each other and to the
environment, it is not always clear what is the
controller and what is the plan.
Central nervous sytem
Musculoskeletal
system
Musculoskeletal
system
motor signals
Kinematics,
forces
mechanical
preflexes
phasic
feedback
guidance &
equilibrium
Vision
hearing
Touch
Contact
Strain
Balance


Visco-
elastic
response
14
What we learned (2)
Main difficulties
Construct a total couple dynamical
system is difficult, even in the
simulation case!
1 Nonlinearities in both the neural and robot
dynamics.
2 Parameter sensitivities make the stable controller
tuning difficult.
3 Using stochastic method (GA) maybe is not the
best way in this case. But there lacks the efficient
algorithms for nonlinear programming.
4 The CPG&MN model we used are sufficient? The
amount of neurons, the topological structure and the
coupling format
5 Muscles are more than motors, they also serve as
brakes, springs, and struts. But we can not grasp all
of the properties and take advantages of them.



15

So what should we do
So, instead of trying to get the total
system in the very beginning, it is better
first to construct a running system and
then add features step by step. It will
also help to understand the details about
the internal neural system components
well.




Bottom-Up strategy to make
HOAP-1 walk his first step.



16
What is the bottom?
Basic neuron functions:
Linear summation
Constant multiplying
Switch
Delay

Also we choose second order
differential equations for its
prevailing advantages in
understanding and description
of neural dynamics.
Delay
input
Gains
&
Summation
Switch
17
New governing Equations
where:

<
>=

u u
u
u
x x
x
x g
0
) , (
c u
u
u
+
=
) , (
) , (
) , (
x g
x g
x u
and
rhrs
u
,
rs
u
,
s
u
are predefined constants.

= =
= =
0 ) 0 ( 0
) 0 ( ) , (
12
12
0 11 21 11
11
y
dt
dy
c y y u C
dt
dy
rhy s
u

= =
= =
2 22 21
2
2
22
1 21 22
21
) 0 (
) 0 (
hr
hr
c y y
dt
dy
c y y
dt
dy
e

= =
= + + =
0 ) 0 ( 0
) 0 ( ) , ( ) , ( )) , ( 1 (
32
32
0 31 32 41 33 22 21 32 31 41 31
31
y
dt
dy
c y K y u C y y u C K y u C
dt
dy
rhp rs rhrs rs
u u u

= =
= =
0 ) 0 ( 0
) 0 ( ) , (
42
42
0 41 22 21 41
41
y
dt
dy
c y y y u C
dt
dy
rkp rhrs
u

= =
= + + =
0 ) 0 ( 0
) 0 ( ) , ( ) , ( )) , ( 1 (
52
52
0 51 52 41 53 22 21 52 51 41 51
51
y
dt
dy
c y K y u C y y u C K y u C
dt
dy
rap rs rhrs rs
u u u

= =
= =
2 62 61
2
2
62
1 61 62
61
) 0 (
) 0 (
ar
ar
c y y
dt
dy
c y y
dt
dy
e
0 1000 2000 3000 4000 5000 6000 7000 8000
-1
-0.5
0
0.5
1
1.5
x 10
4
Joint pattern
18
Neural model for HOAP-1
The neural model
can be cataloged as
joint-based or
motion primitive-
based
Ankle roll
oscillator
Hip roll
oscillator
Ankle pit ch
oscillator
Knee
oscillator
Hip pitch
oscillator
Joint-based
Back/Forward
oscillator
Foot lef t
oscillator
Roll
oscillator
primitive-based
19
0 50 100 150 200 250
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Sensory implementation
Sensory feedback input to the
neural system through a delay,
which is governed by a first
order differential equation for
natural integration of the total
system.
Now, the foot force sensors are
integrating in the neural system
to simulate the function of
tactile receptor reflex.
20
Implementation issues
Governing equations are
integrated in real-time;
The parameters for different
motion primitives are tuned in a
straightforward manner.
The compensation for
gear&motor position error.
Walking patterns vary from
turning, walk, and
turning+walking.



User command input
Pattern generator
compensation
motion command
basic pattern
User space
Kernel module
HOAP-1
21
Future works
Analytic work towards understanding CPG
Nonlinear dynamics & Nonlinear Programming.
New motor primitives equations.

HOAP-1 walking performance improvement
Special investigation for sensory system.
Different walking environment.
Real-time software enhancement.
The future works will focus on: