Modeling Proprioceptive Sensing for Locomotion Control of Hexapod Walking Robot in Robotic Simulator

2019 ◽  
pp. 215-225 ◽  
Author(s):  
Minh Thao Nguyenová ◽  
Petr Čížek ◽  
Jan Faigl
Keyword(s):  
Walking Robot ◽  
Locomotion Control ◽  
Robotic Simulator

scholarly journals Bio-Inspired Adaptive Locomotion Control System for Online Adaptation of a Walking Robot on Complex Terrains

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 91587-91602 ◽  
Author(s):  
Potiwat Ngamkajornwiwat ◽  
Jettanan Homchanthanakul ◽  
Pitiwut Teerakittikul ◽  
Poramate Manoonpong
Keyword(s):  
Control System ◽  
Walking Robot ◽  
Locomotion Control ◽  
Adaptive Locomotion ◽  
Online Adaptation

Gait Generation With Smooth Transition Using CPG-Based Locomotion Control for Hexapod Walking Robot

2016 ◽  
Vol 63 (9) ◽  
pp. 5488-5500 ◽  
Author(s):  
Haitao Yu ◽  
Haibo Gao ◽  
Liang Ding ◽  
Mantian Li ◽  
Zongquan Deng ◽  
...  
Keyword(s):  
Smooth Transition ◽  
Walking Robot ◽  
Locomotion Control ◽  
Gait Generation

Biologically-Inspired Locomotion Controller for a Quadruped Walking Robot: Analog IC Implementation of a CPG-Based Controller

2004 ◽  
Vol 16 (4) ◽  
pp. 397-403 ◽  
Author(s):  
Kazuki Nakada ◽  
◽  
Tetsuya Asai ◽  
Yoshihito Amemiya
Keyword(s):  
Integrated Circuit ◽  
Complementary Metal Oxide Semiconductor ◽  
Oxide Semiconductor ◽  
Walking Robot ◽  
Rhythmic Movements ◽  
Biologically Inspired ◽  
Locomotion Control ◽  
Analog Ic ◽  
Robot Locomotion ◽  
Quadruped Walking Robot

The present paper proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for robot locomotion have been proposed, but have mostly been implemented in software on digital microprocessors. Such a digital processor operates accurately, but it can only process sequentially. Thus, increasing the degree of freedom of physical parts of a robot deteriorates the performance of a CPG-based controller. We therefore implemented a CPG-based controller in an analog complementary metal-oxide-semiconductor (CMOS) circuit that processes in parallel essentially, making it suitable for real-time locomotion control in a multi-legged robot. Using the simulation program with integrated circuit emphasis (SPICE), we show that our controller generates stable rhythmic patterns for locomotion control in a quadruped walking robot, and change its rhythmic patterns promptly.

Biomimetic Locomotion Control of a Quadruped Walking Robot

2008 ◽  
Vol 41 (2) ◽  
pp. 3011-3016
Author(s):  
Ig Mo Koo ◽  
Tran Duc Trong ◽  
GiaLoc Vo ◽  
Young Kuk Song ◽  
Hyouk Ryeol Choi ◽  
...  
Keyword(s):  
Walking Robot ◽  
Locomotion Control ◽  
Quadruped Walking Robot

Control and Stability Evaluation of the Bipedal Walking Robot AnyWalker

2018 ◽  
Vol 11 (4) ◽  
pp. 160 ◽  
Author(s):  
Igor Ryadchikov ◽  
Semyon Sechenev ◽  
Evgeny Nikulchev ◽  
Michail Drobotenko ◽  
Alexander Svidlov ◽  
...  
Keyword(s):  
Bipedal Walking ◽  
Stability Evaluation ◽  
Walking Robot
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