A Hybrid Quadruped Robot System Based on Central Pattern Generator

摘要：

A wheel-leg hybrid quadruped robot HIT-HYBTOR was developed; the robot could walk on rough terrain,roll by wheels on flat terrain,walk forward,turn around and climb stairs.CPG network based on mutual inhibition neurons has been designed for control the robot walking,parameters of the network was regulated,output of the CPG network combined with threshold value method was adopted to control the robot proportional gait,reflex mechanism of the CPG gait control was described.Experiment testified performance of the robot and CPG control method.

关键词： Central Pattern Generator quadruped robot hybrid.

作者: Bo Huang Yufeng Yao Wei Zhu

作者单位: Robotics Institute,Harbin Institute of Technology at Weihai,Weihai Shandong Province,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）