Central Pattern Generators of Adaptive Frequency for Locomotion Control of Quadruped Robots
The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive frequency according to the existing researches. Thus, the frequency of CPG can be changed automatically via the feedback of external limit cycle driving signals. Also, we try to explain the CPG of adaptive frequency from a dynamical way. Then we construct a new CPG method for locomotion control of quadruped robots. Finally we make simulations to verify the CPG locomotion control method on a quadruped model in the software of Adams.
Long Teng Xingming Wu Weihai Chen Jianhua Wang
School of Automation Science and Electrical EngineeringBeihang University, Beijing, China School of Automation Science and Electrical Engineering Beihang University, Beijing, China
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
586-590
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）