Serpentine and Rectilinear Motion Generation in Snake Robot Using Central Pattern Generator with Gait Transition

2019 ◽  
Vol 44 (3) ◽  
pp. 1093-1103 ◽  
Author(s):  
Sajjad Manzoor ◽  
Uzair Khan ◽  
Ihsan Ullah
Keyword(s):  
Central Pattern Generator ◽  
Pattern Generator ◽  
Rectilinear Motion ◽  
Motion Generation ◽  
Gait Transition ◽  
Snake Robot

Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

2013 ◽  
pp. 11-24
Author(s):  
Shinya Aoi
Keyword(s):  
Control System ◽  
Central Pattern Generator ◽  
Biped Robot ◽  
Pattern Generator ◽  
Bipedal Locomotion ◽  
Phase Resetting ◽  
Gait Transition ◽  
Gait Patterns ◽  
Transition Control ◽  
The Stability

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

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