General Information
    • ISSN: 1793-8201 (Print), 2972-4511 (Online)
    • Abbreviated Title: Int. J. Comput. Theory Eng.
    • Frequency: Quarterly
    • DOI: 10.7763/IJCTE
    • Editor-in-Chief: Prof. Mehmet Sahinoglu
    • Associate Editor-in-Chief: Assoc. Prof. Alberto Arteta, Assoc. Prof. Engin Maşazade
    • Managing Editor: Ms. Mia Hu
    • Abstracting/Indexing: Scopus (Since 2022), INSPEC (IET), CNKI,  Google Scholar, EBSCO, etc.
    • Average Days from Submission to Acceptance: 192 days
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Prof. Mehmet Sahinoglu
Computer Science Department, Troy University, USA
I'm happy to take on the position of editor in chief of IJCTE. We encourage authors to submit papers concerning any branch of computer theory and engineering.

IJCTE 2011 Vol.3(2): 185-188 ISSN: 1793-8201
DOI: 10.7763/IJCTE.2011.V3.303

A System for Learning to Locomotion Using Adaptive Oscillators in the Humanoid Robot

Seyed Mojtaba Saif

Abstract—This paper proposes a central pattern generators based control architecture using a frequency adaptive oscillator for learning to locomotion of humanoid robot. Central pattern generators are biological neural networks that can produce coordinated multidimensional rhythmic signals, under the control of simple input signals. They are found both in vertebrate and invertebrate animals for the control of locomotion. In this article, we present a novel system composed of adaptive nonlinear oscillators that can learn arbitrary rhythmic signals in a supervised learning framework, and apply it to control a simulated humanoid robot with up to 22 degrees of freedom. A key feature of the proposed architecture is that the learning is completely embedded in to the dynamical control, and does not require external optimization algorithms. As a test bed, we chose Robocup 3D soccer simulation environment (spark). Experimental results show that learn to walk of the robot could be successfully performed, thus allowing the biped robot to walk fast, stable and straightly.

Seyed Mojtaba Saif is with Department of Computer Engineering. Islamic Azad University, Safa shahr Branch, Safa shahr, Iran(email:


Cite: Seyed Mojtaba Saif, "A System for Learning to Locomotion Using Adaptive Oscillators in the Humanoid Robot," International Journal of Computer Theory and Engineering vol. 3, no. 2, pp. 185-188, 2011.

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