Central Pattern Generator Based Gait Control for Planar Quadruped Robots

doi:10.1007/s12204-014-1470-1

上海交通大学学报（英文版） ›› 2014, Vol. 19 ›› Issue (1): 1-10.doi: 10.1007/s12204-014-1470-1

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Central Pattern Generator Based Gait Control for Planar Quadruped Robots

LI Jia-wang (李家旺), WU Chao (吴超), GE Tong* (葛彤)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

出版日期:2014-01-15 发布日期:2014-01-15
通讯作者: GE Tong(葛彤) E-mail:tongge@sjtu.edu.cn

Central Pattern Generator Based Gait Control for Planar Quadruped Robots

LI Jia-wang (李家旺), WU Chao (吴超), GE Tong* (葛彤)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2014-01-15 Published:2014-01-15
Contact: GE Tong(葛彤) E-mail:tongge@sjtu.edu.cn

摘要/Abstract

摘要： In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator (CPG). A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential (PD) joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers.

关键词: quadruped robot, central pattern generator (CPG), gait transition, adaptation

Abstract: In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator (CPG). A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential (PD) joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers.

Key words: quadruped robot, central pattern generator (CPG), gait transition, adaptation

中图分类号:

TP 242

LI Jia-wang (李家旺), WU Chao (吴超), GE Tong* (葛彤). Central Pattern Generator Based Gait Control for Planar Quadruped Robots[J]. 上海交通大学学报（英文版）, 2014, 19(1): 1-10.

LI Jia-wang (李家旺), WU Chao (吴超), GE Tong* (葛彤). Central Pattern Generator Based Gait Control for Planar Quadruped Robots[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(1): 1-10.

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Central Pattern Generator Based Gait Control for Planar Quadruped Robots

Central Pattern Generator Based Gait Control for Planar Quadruped Robots

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