会议专题

Central Pattern Generators Based Adaptive Control for a Quadruped Robot

This paper presents an adaptive control system of Central Pattern Generators (CPG) made of a network of mutually coupled Van Del Pol nonlinear oscillators. The CPG based controller is used to generate stable rhythmical locomotion trajectories. With the sensorial information feedback, a novel adaptive control strategy is implemented to help a quadruped robot with only two rotary Degrees Of Freedom (DOF)s per leg in the sagittal plane to adapt various terrain environments and response external instructions such as up-slope, down-slope, direction turning and preserving. Moreover, it provides an easy mean to manipulate the robot to move forward, backward and hold steps. The effectiveness of the proposed approach is examined with computer simulations.

Central Pattern Generator (CPG) Quadruped Robot Adaptive Control

Xun Li Wei Wang Bin Li Yanjun Wang Yiping Yang

integrate Information System Center of Institute of Automation,Chinese Academy of Science

国际会议

2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

桂林

英文

2068-2072

2009-12-19(万方平台首次上网日期,不代表论文的发表时间)