Neural coupled central pattern generator based smooth gait transition of a biomimetic hexapod robot

2021 ◽  
Vol 420 ◽  
pp. 210-226
Author(s):  
Cafer Bal
Keyword(s):  
Central Pattern Generator ◽  
Pattern Generator ◽  
Hexapod Robot ◽  
Gait Transition

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.

scholarly journals Gait Control of Hexapod Robot Based on Field-Programmable Gate Array and Central Pattern Generator

2020 ◽  
Vol 53 (6) ◽  
pp. 931-937
Author(s):  
Tianbo Qiao
Keyword(s):  
Central Pattern Generator ◽  
Field Programmable Gate Array ◽  
Control Method ◽  
Pattern Generator ◽  
Hexapod Robot ◽  
Gait Control ◽  
Field Programmable ◽  
Physical Prototype ◽  
Hardware Description ◽  
Gate Array

This paper attempts to improve the terrain adaptability of hexapod robot through gait control. Firstly, the multi-leg coupling in the tripodal gait of the hexapod robot was modeled by Hopf oscillator. Then, annular central pattern generator (CPG) was adopted to simulate the leg movements of hexapod robot between signals. Furthermore, a physical prototype was designed for the gait control test on field-programmable gate array (FPGA), and the algorithm of the rhythmic output of the model was programmed in Verilog, a hardware description language. Finally, the effectiveness of our gait control method was verified through the simulation on Xilinx. The results show that the phase difference of the CPG network remained stable; the designed hexapod robot moved at about 5.15cm/s stably in a tripodal gait, and outperformed wheeled and tracked robots in terrain adaptation. The research findings lay a solid basis for the design of all-terrain multi-leg robots.

scholarly journals The Design and Building of a Hexapod Robot with Biomimetic Legs

2019 ◽  
Vol 9 (14) ◽  
pp. 2792
Author(s):  
Hwang ◽  
Liu ◽  
Yang ◽  
Lin
Keyword(s):  
Central Pattern Generator ◽  
Distributed Control ◽  
Pattern Generator ◽  
Mathematical Function ◽  
Distributed Control System ◽  
Hexapod Robot ◽  
Computational System ◽  
Computational Burden ◽  
Tripod Gait ◽  
The Brain

A hexapod robot with biomimetic legs was built to implement a distributed control system, where a mechanism is proposed to serve as the central pattern generator and a computer to act as the brain-stem, cooperating with the central pattern generator through wireless communication. The proposed mechanism is composed of two modules, i.e., the tripod gait generator and the Theo Jansen Linkage. The tripod gait generator is a device that uses a single motor to generate a tripod gait, while the Theo Jansen Linkage rhythmically executes the legged motion. In a sense, we are trying to implement the locomotion of a robot by means of a hybrid computational system, including the mechanism part and the electronic processors part. The complex mathematical function of the foot movement is realized by the ensemble of links of the Theo Jansen Linkage, so as to alleviate the computational burden. Besides, the proposed design, based on non-collocated actuators, is intended to minimize the number of actuators while reducing the building cost of the robot.

scholarly journals The gait planning of hexapod robot based on CPG with feedback

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142093050 ◽  
Author(s):  
Binrui Wang ◽  
Ke Zhang ◽  
Xuefeng Yang ◽  
Xiaohong Cui
Keyword(s):  
Central Pattern Generator ◽  
Stability Margin ◽  
Pattern Generator ◽  
The Body ◽  
Middle Level ◽  
Point Problem ◽  
Vector Product ◽  
Hexapod Robot ◽  
The Stability ◽  
The Relationship

To realize the omnidirectional motion, the transition motion of hexapod robot from flat to slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point problem of the hexapod robot in the process of transition is studied, the relationship between the introduced angle in ankle of the supporting leg and the body pitch is acquired, and the transition gait based on central pattern generator bottom feedback is planned. Secondly, the slope motion is analyzed, the relationship between the angle variable of the supporting knee joint and the pitch angle of hexapod is obtained, and the slope gait is planned based on central pattern generator middle level feedback. According to vector product, the solution of working out the stability margin of hexapod robot’s motion is designed. Lastly, MATLAB/ADAMAS co-simulation platform and physical hardware are constructed, the simulation and experiment of transition motion of hexapod robot from flat to 12° slope and motion of climbing 16° slope are done. According to the analysis of the results, in the transition motion from flat to 12° slope, based on the transition gait, hexapod robot can keep three foots touch the ground, and the foot force is uniform. According to the means designed to work out a stability margin based on vector product, the stability margin constant is greater than zero. In the motion of climbing 16° slope, based on the slope gait, hexapod robot completes the motion of climbing 16° slope. Based on transition gait, hexapod robot implements the transition movement from flat to slope stably. Based on slope gait, hexapod robot improves the ability of slope motion.

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