Biologically Inspired Spinal locomotion Controller for Humanoid Robot Jiang Shan , Fumio Nagashima Autonomous System Lab , Fujitsu Lab

Jiang Shan, Fumio Nagashima Autonomous System Lab, Fujitsu Lab Abstract: A biologically inspired design strategy for humanoid robot locomotion control and its simulation implementation is presented in this paper. Firstly, the dynamics model of humanoid robot, biologically plausible spinal motor neural circuits, and virtual muscular module are constructed. Then, the control strategy for adaptive bipedal locomotion is investigated, also the development of the general-purpose robot simulation environment is discussed. This research shows that the locomotion control flexibility and autonomy are achieved based on integration of biological foundations, computational neuroscience and robotics, and this work also provides primary consideration for future engineering solution for both real robot and neurological disorder.