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Wei Li PhD Dissertation.pdf (5.61 MB)

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Biologically Inspired Neural Control Network for A Bipedal Walking Model

Li, Wei
http://rave.ohiolink.edu/etdc/view?acc_num=case1481161796893903

Abstract Details

2017, Doctor of Philosophy, Case Western Reserve University, EMC - Mechanical Engineering.
This dissertation describes the development of a biologically inspired neural control network for planar human-like walking in the sagittal plane. The bipedal model is constructed as a simplified musculoskeletal system, with leg length about 0.84 m, to mimic the biomechanics of the human lower body. The leg model contains 3 active joints (hip, knee, ankle) driven by 6 muscles and a two-part foot with a passive joint. The neural network is composed of leaky integrate-and-fire neurons, which are organized as central pattern generators (CPGs) entrained by ground contact and hip joint movement sensory feedback to generate appropriate locomotor patterns for walking. The CPG model adopts a two-level architecture, which consists of separate rhythm generator (RG) and pattern formation (PF) networks. Bipedal walking is tested using neuromechanical simulation. Under the control of the dynamic neural network, the model walks stably with human-like gait in the sagittal plane without any inertial sensors or a central posture controller or a “baby walker” to help overcome gravity. The model’s walking speed varies from 0.61 m/s to 1.29 m/s, adapting to different horizontal COM displacements and pelvis mass settings. It walks over 50 mm high small obstacles, and up or down 5° slopes without any additional higher level control actions. This model is flexible and expandable in further research.
Roger Quinn (Committee Chair)
Musa Audu (Committee Member)
Kiju Lee (Committee Member)
Richard Bachmann (Committee Member)
129 p.
Robotics

Recommended Citations

Citations

  • Li, W. (2017). Biologically Inspired Neural Control Network for A Bipedal Walking Model [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1481161796893903

    APA Style (7th edition)

  • Li, Wei. Biologically Inspired Neural Control Network for A Bipedal Walking Model. 2017. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1481161796893903.

    MLA Style (8th edition)

  • Li, Wei. "Biologically Inspired Neural Control Network for A Bipedal Walking Model." Doctoral dissertation, Case Western Reserve University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1481161796893903

    Chicago Manual of Style (17th edition)

case1481161796893903
703
© 2016, some rights reserved.Creative Commons License Biologically Inspired Neural Control Network for A Bipedal Walking Model by Wei Li is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.