The 10th Workshop on Humanoid Soccer Robots

The 10th Workshop on Humanoid Soccer Robots
at 15th IEEE-RAS International Conference on Humanoid Robots
Seoul, Korea, November 3rd 2015

Invited Presentation 14:30-15:00

Seungmoon Song and Hartmut Geyer, Carnegie Mellon University, USA:

Neuromuscular Model of Human Locomotion that can Generate Diverse Locomotion Behaviors

We present a neuromuscular model of human locomotion that can generate diverse locomotion behaviors. The neural controller of the model consists of two layers. A lower, spinal cord layer generates muscle stimulations mainly through integrated reflex pathways and a higher, supraspinal layer modulates the reflex control gains. The model can generate locomotion behaviors including walking and running, acceleration and deceleration, slope and stair negotiation, turning, and deliberate obstacle avoidance. These results not only may help to better understand human motor control of locomotion, but also suggest decentralized control algorithms for adaptive behavior in legged robots. Exploring this second point, we highlight two application domains, humanoids and artificial limbs. We present our current results toward virtual neuromuscular controllers of bipedal robots that adapt gait to environment changes, and toward reactive controllers of powered knee prostheses for balance recovery and fall prevention in locomotion of transfemoral amputees.

Slides: HSR_2015_Slides_Song.pdf

Neuromuscular model: nmsModel

 2015 Humanoid Soccer Workshop                   Humanoids 2015 Conference