The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning Control Algorithm
2013 ◽
Vol 677
◽
pp. 296-303
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Keyword(s):
Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.
2019 ◽
Vol 25
(8)
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pp. 1484-1491
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Keyword(s):
Keyword(s):
2008 ◽
Vol 18
(10)
◽
pp. 999-1000
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2005 ◽
Vol 33
(2)
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Keyword(s):