The CPG control algorithm for a climbing worm robot

Wei Wang; Yingying Wang; Jinghao Qi; Houxiang Zhang; Jianwei Zhang

doi:10.1109/ICIEA.2008.4582600

The CPG control algorithm for a climbing worm robot

Wei Wang^*
, Yingying Wang
, Jinghao Qi
, Houxiang Zhang
, Jianwei Zhang

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
University of Hamburg

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

Original language	English
Title of host publication	2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
Pages	675-679
Number of pages	5
DOIs	https://doi.org/10.1109/ICIEA.2008.4582600
State	Published - 2008
Event	2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008 - Singapore, Singapore Duration: 3 Jun 2008 → 5 Jun 2008

Publication series

Name	2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008

Conference

Conference	2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
Country/Territory	Singapore
City	Singapore
Period	3/06/08 → 5/06/08

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10.1109/ICIEA.2008.4582600

Cite this

@inproceedings{f4f856e3c26243508cc0baf912e990a1,

title = "The CPG control algorithm for a climbing worm robot",

abstract = "In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.",

author = "Wei Wang and Yingying Wang and Jinghao Qi and Houxiang Zhang and Jianwei Zhang",

year = "2008",

doi = "10.1109/ICIEA.2008.4582600",

language = "英语",

isbn = "9781424417186",

series = "2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008",

pages = "675--679",

booktitle = "2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008",

note = "2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008 ; Conference date: 03-06-2008 Through 05-06-2008",

}

Wang, W, Wang, Y, Qi, J, Zhang, H & Zhang, J 2008, The CPG control algorithm for a climbing worm robot. in 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008., 4582600, 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008, pp. 675-679, 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008, Singapore, Singapore, 3/06/08. https://doi.org/10.1109/ICIEA.2008.4582600

The CPG control algorithm for a climbing worm robot. / Wang, Wei; Wang, Yingying; Qi, Jinghao et al.
2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008. 2008. p. 675-679 4582600 (2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The CPG control algorithm for a climbing worm robot

AU - Wang, Wei

AU - Wang, Yingying

AU - Qi, Jinghao

AU - Zhang, Houxiang

AU - Zhang, Jianwei

PY - 2008

Y1 - 2008

N2 - In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

AB - In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

UR - https://www.scopus.com/pages/publications/51949101153

U2 - 10.1109/ICIEA.2008.4582600

DO - 10.1109/ICIEA.2008.4582600

M3 - 会议稿件

AN - SCOPUS:51949101153

SN - 9781424417186

T3 - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008

SP - 675

EP - 679

BT - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008

T2 - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008

Y2 - 3 June 2008 through 5 June 2008

ER -

The CPG control algorithm for a climbing worm robot

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