scholarly journals Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network

Symmetry ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 2090
Author(s):  
Yong Zhang ◽  
Hao Wang ◽  
Yi Ding ◽  
Beiping Hou
Keyword(s):  
Control System ◽  
Quadruped Robot ◽  
Network Control ◽  
Joint Angles ◽  
Gait Planning ◽  
Irregular Terrain ◽  
Dc Motors ◽  
System A ◽  
Unit Model ◽  
Complex Valued

In this paper, we propose a CPG (central pattern generator) network control system using motor dynamics for the gait planning of a quadruped robot with a trot walking pattern to climb up and down a slope and turn back and follow the symmetry of route. The CPG unit model, which includes two DC motors model, has the ability to generate the periodic joint angle with complex-value parameters. Through plural feedback parameters, the CPG network can adjust the frequency and amplitude of an internal neuron model such as a robot meeting an irregular surface of a road. Using the stride length and frequency of robot joint angles, the distance of walking with a trot pattern can be calculated. In order to confirm the validity of the proposed control system, a quadruped robot is produced to implement the adaptive walking system.

EXPERIENCE OF THE DEVELOPMENT OF THE CONTROL SYSTEM OF MECHANISMS WITH PARALLEL STRUCTURE OF THE TYPE "HEXAPOD" FOR POSITIONING AND INTRODUCTION OF LARGE-SIZED OBJECTS OF INFORMATION SPACE PLATFORM

2018 ◽  
pp. 111-123 ◽  
Author(s):  
A. V. Gorbunov ◽  
E. B. Korotkov ◽  
A. V. Lekanov ◽  
S. A. Matveev ◽  
N. S. Slobodzyan ◽  
...  
Keyword(s):  
Neural Network ◽  
Control System ◽  
Control Unit ◽  
Network Control ◽  
Parallel Structure ◽  
Nonlinear Controller ◽  
System A ◽  
Control Scheme ◽  
Adaptive Neural Network Control

The problems of designing a hexapod control system - a mechanism with parallel kinematics, designed for guidance and positioning of instruments and antennas of orbiting satellite platforms are considered. Based on the solution of the extended kinematics problem, the algorithm for controlling linear drives with a kinematic pair of screw-nut and two two-axis hinges is specified. The hexapod control scheme with the spatial load position sensor is given, the feasibility of positional control algorithms is estimated on the basis of the modern domestic element base. The estimation is made by the method of mathematical modeling. An algorithm for adaptive neural network control of a hexapod is proposed. An artificial neural network has been developed, which together with a nonlinear controller regulates the force acting on linear actuators by control error. To assess the quality of hexapod control, a dynamic model of the hexapod control system was created in the simulation package SimMechanics of the MATLAB Simulink system. A description is given of the hardware part of the digital control system-the hexapod control unit).

Speed Control of Shunt-Wound DC Motors Using Switching Technique

2018 ◽  
Author(s):  
Shahin S. Nudehi ◽  
Ryan Newendyke ◽  
Dylan Antonides ◽  
Timothy Zange
Keyword(s):  
Control System ◽  
Tracking Error ◽  
Speed Control ◽  
Feedback Control System ◽  
Switching Rate ◽  
Dc Motors ◽  
System A ◽  
The Stability ◽  
Fast Acting ◽  
Theoretical Results

In this paper, a switching feedback control system for speed control of a shunt-wound DC motor is described. In the control system a fast-acting switch periodically opens and closes between the motor terminal and the motor driver in order to estimate the motor’s speed. Theoretical results predicted the stability of the control system and it was shown that the tracking error in the motor’s speed is linearly dependent on the switching rate. To prove the applicability of this approach, an experimental setup was built and the switching control system was implemented using the real-time hardware within MATLAB/SIMULINK™ software.

Analysis of Gait Planning Method for Biped Robots

2013 ◽  
Vol 753-755 ◽  
pp. 1995-2000
Author(s):  
Jun Sun ◽  
Ling Lu ◽  
Jun Qing Chen ◽  
Jiu Fu Jin
Keyword(s):  
Control System ◽  
Theoretical Basis ◽  
Polynomial Algorithm ◽  
Interpolation Method ◽  
System Development ◽  
Spline Interpolation ◽  
Joint Angles ◽  
Biped Robots ◽  
Gait Planning ◽  
Quintic Polynomial

Biped robots research is mainly concentrated on the control system development and doing simulation, cubic spline interpolation method is widely applied to pre-gait planning work. This paper analyzed the robots walking process and calculated the joint trajectory curves of a walk cycle by using spline interpolation and the quintic polynomial fitting means, verifies that the result obtained by quintic polynomial algorithm tends to be more ideal, it is conducive to maintain walking stability and find the optimal joint angles. The paper provides a theoretical basis for optimizing robots trajectory planning.

scholarly journals Motion coordination control of planar 5R parallel quadruped robot based on SCPL-CPG

2022 ◽  
Vol 14 (1) ◽  
pp. 168781402110709
Author(s):  
Mingfang Chen ◽  
Kangkang Hu ◽  
Yongxia Zhang ◽  
Fengping Qi
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Robot Control ◽  
Quadruped Robot ◽  
Smooth Transition ◽  
Analysis Method ◽  
Motion Coordination ◽  
Connection Weight ◽  
Unit Model ◽  
Hopf Oscillator

The parallel leg of the quadruped robot has good structural stiffness, accurate movement, and strong bearing capacity, but it is complicated to control. To solve this problem, a series connection of parallel legs (SCPL) was proposed, as well as a control strategy combined with the central pattern generator (CPG). With the planar 5R parallel leg as the research object, the SCPL analysis method was used to analyze the leg structure. The topology of CPG network was built with the Hopf oscillator as the unit model, and the CPG was the core to model the robot control system. By continuously adjusting the parameters in the CPG control system and changing the connection weight, and the smooth transition between gaits was realized. The simulation results show that the SCPL analysis method can be effectively used in the analysis of parallel legs, and the control system can realize the smooth transition between gaits, which verifies the feasibility and effectiveness of the proposed control strategy.

Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

2014 ◽  
Vol 47 (3) ◽  
pp. 2153-2158 ◽  
Author(s):  
Nan Hu ◽  
Shaoyuan Li ◽  
Dan Huang ◽  
Feng Gao
Keyword(s):  
Quadruped Robot ◽  
Gait Planning ◽  
Irregular Terrain ◽  
High Payload

scholarly journals Gait Planning and Stability Control of a Quadruped Robot

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Junmin Li ◽  
Jinge Wang ◽  
Simon X. Yang ◽  
Kedong Zhou ◽  
Huijuan Tang
Keyword(s):  
Stability Control ◽  
Quadruped Robot ◽  
Oscillation System ◽  
Hip Joints ◽  
Gait Planning ◽  
Reduced Order ◽  
System A ◽  
The Stability ◽  
Real Time Computing ◽  
Speed Adjustment

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot’s gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot’s movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.

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