Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS)

Azhar Aulia Saputra; Achmad Subhan Khalilullah; Naoyuki Kubota

doi:10.1007/978-3-319-29339-4_25

Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS)

Azhar Aulia Saputra^*
, Achmad Subhan Khalilullah
, Naoyuki Kubota

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper we propose the development of EROS locomotion by using neural oscillator. We investigated muscular structure of human body for designing the neuron structure. Two motoric neurons, extensor neuron and flexor neuron, represent one structure of joint that generating the angle of joint. Sensoric neuron connection also designed for adapting the environment. Three kinds of sensor such as ground reaction sensor, tilt sensor, and angular velocity sensor are utilized for validate the proposed method. Evolutionary algorithm was used for optimizing synapse weight among motoric neuron, while recurrent neural network was used for the dynamical condition learning. The locomotion system of this research was shown using Open Dynamic Engine (ODE). The proposed method can generate locomotion pattern and its stability learning system improves the stability of locomotion. The proposed approach formed the walking locomotion that potentially can be developed to become adaptive locomotion.

Original language	English
Title of host publication	RoboCup 2015
Subtitle of host publication	Robot World Cup XIX
Editors	Jianmin Ji, Luis Almeida, Sean Luke, Gerald Steinbauer
Publisher	Springer Verlag
Pages	303-315
Number of pages	13
ISBN (Print)	9783319293387
DOIs	https://doi.org/10.1007/978-3-319-29339-4_25
State	Published - 2015
Externally published	Yes
Event	19th Annual RoboCup International Symposium, 2015 - Hefei, China Duration: 23 Jul 2015 → 23 Jul 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9513
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	19th Annual RoboCup International Symposium, 2015
Country/Territory	China
City	Hefei
Period	23/07/15 → 23/07/15

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2015.

Keywords

EROS
Locomotion
Neural oscillator
Recurrent neural network

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-319-29339-4_25

Cite this

Saputra, A. A., Khalilullah, A. S., & Kubota, N. (2015). Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS). In J. Ji, L. Almeida, S. Luke, & G. Steinbauer (Eds.), RoboCup 2015: Robot World Cup XIX (pp. 303-315). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9513). Springer Verlag. https://doi.org/10.1007/978-3-319-29339-4_25

Saputra, Azhar Aulia ; Khalilullah, Achmad Subhan ; Kubota, Naoyuki. / Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS). RoboCup 2015: Robot World Cup XIX. editor / Jianmin Ji ; Luis Almeida ; Sean Luke ; Gerald Steinbauer. Springer Verlag, 2015. pp. 303-315 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS)",

abstract = "In this paper we propose the development of EROS locomotion by using neural oscillator. We investigated muscular structure of human body for designing the neuron structure. Two motoric neurons, extensor neuron and flexor neuron, represent one structure of joint that generating the angle of joint. Sensoric neuron connection also designed for adapting the environment. Three kinds of sensor such as ground reaction sensor, tilt sensor, and angular velocity sensor are utilized for validate the proposed method. Evolutionary algorithm was used for optimizing synapse weight among motoric neuron, while recurrent neural network was used for the dynamical condition learning. The locomotion system of this research was shown using Open Dynamic Engine (ODE). The proposed method can generate locomotion pattern and its stability learning system improves the stability of locomotion. The proposed approach formed the walking locomotion that potentially can be developed to become adaptive locomotion.",

keywords = "EROS, Locomotion, Neural oscillator, Recurrent neural network",

author = "Saputra, \{Azhar Aulia\} and Khalilullah, \{Achmad Subhan\} and Naoyuki Kubota",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 19th Annual RoboCup International Symposium, 2015 ; Conference date: 23-07-2015 Through 23-07-2015",

year = "2015",

doi = "10.1007/978-3-319-29339-4\_25",

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isbn = "9783319293387",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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Saputra, AA, Khalilullah, AS & Kubota, N 2015, Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS). in J Ji, L Almeida, S Luke & G Steinbauer (eds), RoboCup 2015: Robot World Cup XIX. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9513, Springer Verlag, pp. 303-315, 19th Annual RoboCup International Symposium, 2015, Hefei, China, 23/07/15. https://doi.org/10.1007/978-3-319-29339-4_25

Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS). / Saputra, Azhar Aulia; Khalilullah, Achmad Subhan; Kubota, Naoyuki.
RoboCup 2015: Robot World Cup XIX. ed. / Jianmin Ji; Luis Almeida; Sean Luke; Gerald Steinbauer. Springer Verlag, 2015. p. 303-315 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9513).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS)

AU - Saputra, Azhar Aulia

AU - Khalilullah, Achmad Subhan

AU - Kubota, Naoyuki

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - In this paper we propose the development of EROS locomotion by using neural oscillator. We investigated muscular structure of human body for designing the neuron structure. Two motoric neurons, extensor neuron and flexor neuron, represent one structure of joint that generating the angle of joint. Sensoric neuron connection also designed for adapting the environment. Three kinds of sensor such as ground reaction sensor, tilt sensor, and angular velocity sensor are utilized for validate the proposed method. Evolutionary algorithm was used for optimizing synapse weight among motoric neuron, while recurrent neural network was used for the dynamical condition learning. The locomotion system of this research was shown using Open Dynamic Engine (ODE). The proposed method can generate locomotion pattern and its stability learning system improves the stability of locomotion. The proposed approach formed the walking locomotion that potentially can be developed to become adaptive locomotion.

AB - In this paper we propose the development of EROS locomotion by using neural oscillator. We investigated muscular structure of human body for designing the neuron structure. Two motoric neurons, extensor neuron and flexor neuron, represent one structure of joint that generating the angle of joint. Sensoric neuron connection also designed for adapting the environment. Three kinds of sensor such as ground reaction sensor, tilt sensor, and angular velocity sensor are utilized for validate the proposed method. Evolutionary algorithm was used for optimizing synapse weight among motoric neuron, while recurrent neural network was used for the dynamical condition learning. The locomotion system of this research was shown using Open Dynamic Engine (ODE). The proposed method can generate locomotion pattern and its stability learning system improves the stability of locomotion. The proposed approach formed the walking locomotion that potentially can be developed to become adaptive locomotion.

KW - EROS

KW - Locomotion

KW - Neural oscillator

KW - Recurrent neural network

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DO - 10.1007/978-3-319-29339-4_25

M3 - Conference contribution

AN - SCOPUS:84958087618

SN - 9783319293387

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 303

EP - 315

BT - RoboCup 2015

A2 - Ji, Jianmin

A2 - Almeida, Luis

A2 - Luke, Sean

A2 - Steinbauer, Gerald

PB - Springer Verlag

T2 - 19th Annual RoboCup International Symposium, 2015

Y2 - 23 July 2015 through 23 July 2015

ER -

Saputra AA, Khalilullah AS, Kubota N. Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS). In Ji J, Almeida L, Luke S, Steinbauer G, editors, RoboCup 2015: Robot World Cup XIX. Springer Verlag. 2015. p. 303-315. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-29339-4_25

Development of humanoid robot locomotion based on biological approach in eepis robot soccer (EROS)

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this