The Control of a Multi-legged Robot Based on Hopf Oscillator
This paper presents the biological control for a radially free distributed hexapod robot.The CPG(central pattern generators)network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs.The ring-type network topology of CPG network that consists of six CPG units is established.By computing the inverse kinematics,the end trajectory of one leg can be conversed to the joint trajectories for controlling the robot movement.The simulation experiment proves the correctness and validity of the proposed model,and successfully makes the hexapod robot walk steadily.
Hexapod robot Central pattern generator Neuron oscillator Motion control
Long Chen Guoliang Zhong Yangdong Hou Wendi Zhuo Wen Nie
School of Mechanical and Electrical Engineering State Key Laboratory of High-Performance Complex Manufacturing Central South University Changsha,China,410000
国际会议
重庆
英文
371-375
2017-10-03（万方平台首次上网日期，不代表论文的发表时间）