TY - GEN
T1 - Central pattern generators of adaptive frequency for locomotion control of quadruped robots
AU - Teng, Long
AU - Wu, Xingming
AU - Chen, Weihai
AU - Wang, Jianhua
PY - 2012
Y1 - 2012
N2 - The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive frequency according to the existing researches. Thus, the frequency of CPG can be changed automatically via the feedback of external limit cycle driving signals. Also, we try to explain the CPG of adaptive frequency from a dynamical way. Then we construct a new CPG method for locomotion control of quadruped robots. Finally we make simulations to verify the CPG locomotion control method on a quadruped model in the software of Adams.
AB - The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive frequency according to the existing researches. Thus, the frequency of CPG can be changed automatically via the feedback of external limit cycle driving signals. Also, we try to explain the CPG of adaptive frequency from a dynamical way. Then we construct a new CPG method for locomotion control of quadruped robots. Finally we make simulations to verify the CPG locomotion control method on a quadruped model in the software of Adams.
UR - https://www.scopus.com/pages/publications/84868238575
U2 - 10.1109/INDIN.2012.6300899
DO - 10.1109/INDIN.2012.6300899
M3 - 会议稿件
AN - SCOPUS:84868238575
SN - 9781467303118
T3 - IEEE International Conference on Industrial Informatics (INDIN)
SP - 586
EP - 590
BT - INDIN 2012 - IEEE 10th International Conference on Industrial Informatics
T2 - IEEE 10th International Conference on Industrial Informatics, INDIN 2012
Y2 - 25 July 2012 through 27 July 2012
ER -