A Method Based on Center Pattern Generator for Quadruped Leg Control

摘要：

In traditional strategy based on Center Pattern Generator (CPG), stance phases and swing phases are always fixed and their durations equal to each other approximately. Few CPG models care about the control of the knee joints under quadrupeds. In view of these deficiencies, this paper presents a model which is used to generate trajectories both for hips and for knees. The model has two desirable properties relative to the conventions. First, the knee joints are integrated with the hip joints into the CPG model. Then, a selector can adjust the duration of the stance phases and of the swing phases. Further more, the idea of the selector isnt confined to a specific neural oscillator or an explicit model. Experiments demonstrate that the model is effective for legged robots control and its ratio of phases can be varied flexibly.

作者: Bin Li Xun Li Wei Wang Yanfen Tang Yiping Yang

作者单位: Institute of Automation,Chinese Academy of Sciences AsiaInfo Holdings Inc

会议类型: 国际会议

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

会议地点: 桂林

会议语种:英文

页码: 2035-2040

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）