Locomotion Control of Quadruped Robots Based on CPG-inspired Workspace Trajectory Generation

摘要：

This paper presents a locomotion control strategy for quadruped robots based on central pattern generator (CPG). The proposed control architecture consists of a workspace trajectory generator and a motion engine. The CPG-inspired trajectory generator can generate workspace trajectories and the motion engine can calculate the accurate joint control signals. Moreover, entrainment with sensory feedback information from robot-environment interaction, the presented control system can generate adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed control architecture and experimental results confirm the effectiveness of the control system.

作者: Chengju Liu Qijun Chen Danwei Wang

作者单位: school of Electronics and Information Engineering, Tongji University, China school of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1250-1255

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）