Adaptive Control of a Quadruped Robot Based on Central Pattern Generators

摘要：

Biocybernetics method is developed to solve robot motion control problem in recent years. Biocybernetics method can realize the robots rhythmic movement by simulating, simplifying and improving rhythmic movement control area of animal. The rhythmic movement has many advantages, such as regular expression form, high stability and adaptability, so it is always used to control the motion of legged robots. Animal’s rhythmic movement is controlled by Central Pattern Generators (CPG). This paper designed a general hydraulic quadruped robot platform adopting Matsuoka’s CPG model to complete the robot motion intelligent control. Four gaits of quadruped robot were simulated based on this CPG control model and the foot endpoints trajectory planning problems of quadruped robot was analyzed.

关键词： Central Pattern Generators quadruped robot motion control

作者: Zhongcai Pei Le Song Bin Chen Xiaoqiang Guo

作者单位: Dept. of Mechanical and Electronic EngineeringBeihang UniversityBeijing, China Dept. of Mechanical and Electronic Engineering Beihang University Beijing, China

会议类型: 国际会议

会议名称: IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)

会议地点: 北京

会议语种:英文

页码: 554-558

在线出版日期: 2012-07-25（万方平台首次上网日期，不代表论文的发表时间）