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.
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
.
DOI: 10.1007/s12204-014-1470-1
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