{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/hierarchical-control-for-bipedal-locomotion","title":"Hierarchical Control for Bipedal Locomotion using Central Pattern Generators and Neural Networks","arxiv_id":"1909.00732","date":"2019-09-02","proceeding":null,"authors":["Sayantan Auddy","Sven Magg","Stefan Wermter"],"abstract":"The complexity of bipedal locomotion may be attributed to the difficulty in synchronizing joint movements while at the same time achieving high-level objectives such as walking in a particular direction. Artificial central pattern generators (CPGs) can produce synchronized joint movements and have been used in the past for bipedal locomotion. However, most existing CPG-based approaches do not address the problem of high-level control explicitly. We propose a novel hierarchical control mechanism for bipedal locomotion where an optimized CPG network is used for joint control and a neural network acts as a high-level controller for modulating the CPG network. By separating motion generation from motion modulation, the high-level controller does not need to control individual joints directly but instead can develop to achieve a higher goal using a low-dimensional control signal. The feasibility of the hierarchical controller is demonstrated through simulation experiments using the Neuro-Inspired Companion (NICO) robot. Experimental results demonstrate the controller's ability to function even without the availability of an exact robot model.","url_abs":"https://arxiv.org/abs/1909.00732v1","url_pdf":"https://arxiv.org/pdf/1909.00732v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"hierarchical-control-for-bipedal-locomotion","repo_url":"https://github.com/sayantanauddy/hierarchical_bipedal_controller","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok"}}],"tasks":[{"task_slug":"motion-generation","task_name":"Motion Generation"}],"methods":[{"method_slug":"adam","method_name":"Adam"},{"method_slug":"batch-normalization","method_name":"Batch Normalization"},{"method_slug":"ddpg","method_name":"DDPG"},{"method_slug":"dense-connections","method_name":"Dense Connections"},{"method_slug":"experience-replay","method_name":"Experience Replay"},{"method_slug":"relu","method_name":"ReLU"},{"method_slug":"weight-decay","method_name":"Weight Decay"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}