Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Veskos:2006,
author = {Veskos, P and Demiris, Y},
pages = {78--84},
publisher = {AISB},
title = {Neuro-mechanical entrainment in a bipedal robotic walking platform},
url = {http://www.aisb.org.uk/publications/proceedings/aisb2006/AISB06_vol2.pdf},
year = {2006}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace.
AU - Veskos,P
AU - Demiris,Y
EP - 84
PB - AISB
PY - 2006///
SP - 78
TI - Neuro-mechanical entrainment in a bipedal robotic walking platform
UR - http://www.aisb.org.uk/publications/proceedings/aisb2006/AISB06_vol2.pdf
UR - http://hdl.handle.net/10044/1/12704
ER -