Central pattern generator based crawl gait control for quadruped robot

2016 ◽  
Author(s):  
Jianfeng Liu ◽  
Jiexin Pu ◽  
Jason Gu
Keyword(s):  
Central Pattern Generator ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Gait Control

A NOVEL CPG WITH PROPRIOCEPTION AND ITS APPLICATION ON THE LOCOMOTION CONTROL OF QUADRUPED ROBOT

2009 ◽  
Vol 06 (01) ◽  
pp. 33-46 ◽  
Author(s):  
LEI SUN ◽  
MAX Q.-H. MENG ◽  
SHUAI LI ◽  
HUAWEI LIANG ◽  
TAO MEI
Keyword(s):  
Central Pattern Generator ◽  
Sensory Information ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Locomotion Control ◽  
Working Status ◽  
Self Protection ◽  
Dynamic Connectivity

This paper proposes a novel central pattern generator (CPG) model with proprioceptive mechanism and the dynamic connectivity mechanism. It not only contains the sensory information of the environment but also contains the information of the actuators and automatically tunes the parameters of CPG corresponding to the actuators information and inner sensory information. The position of the joints linked directly with the output of CPG is introduced to the CPG to find its proprioceptive system, spontaneously making the robot realize the actuator working status, further changing the CPG output to fit the change and decrease the influence of the problematic joints or actuators on the robot being controlled. So the damage would be avoided and self-protection is implemented. Its application on the locomotion control of a quadruped robot demonstrates the effectiveness of the proposed approach.

Motion Control of Hydraulic Quadruped Robot Based on Central Pattern Generator

2012 ◽  
Vol 8 (1) ◽  
pp. 433-438 ◽  
Author(s):  
Bin Chen ◽  
Zhong-Cai Pei ◽  
Zhi-Yong Tang ◽  
Xiao-Qiang Guo ◽  
Hai-Xiao Zhong
Keyword(s):  
Central Pattern Generator ◽  
Motion Control ◽  
Pattern Generator ◽  
Quadruped Robot

scholarly journals Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772344 ◽  
Author(s):  
Gang Wang ◽  
Xi Chen ◽  
Shi-Kai Han
Keyword(s):  
Neural Network ◽  
Central Pattern Generator ◽  
Complex Terrain ◽  
Pattern Generator ◽  
Feedforward Neural Network ◽  
Control Technique ◽  
Gait Control ◽  
Generator System ◽  
Adaptive Gait ◽  
Self Adaptive

Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cycle effects. Having Hopf oscillators as the basic units, a central pattern generator system is proposed for the waveform-gait control of the crab-like robot. A tri-layer feedforward neural network is then constructed to establish the one-to-one mapping between the central pattern generator rhythmic signals and the joint angles. Based on the central pattern generator system and feedforward neural network, two reflex mechanisms are put forward to realize self-adaptive gait control on complex terrains. Finally, experiments with the crab-like robot are performed to verify the waveform-gait generation and transition performances and the self-adaptive locomotion capability on uneven ground.

WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

2011 ◽  
Author(s):  
Victor Barasuol ◽  
Victor Juliano De Negri ◽  
Edson Roberto De Pieri
Keyword(s):  
Central Pattern Generator ◽  
Physical Meaning ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Coupling Relationship ◽  
Simulation Results

In this paper it is proposed a central pattern generator (CPG) based on workspace intentions, where the parameters of modulation have physical meaning and the walking can be adapted to overcome irregular terrains by changing few parameters. The walking features are independently modulated since there is no coupling relationship among WCPG parameters. Simulation results are presented to demonstrate the WCPG performance for a simplified quadruped robot model in different terrains.

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.

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