NDLI: Locomotion control of quadruped robots based on central pattern generators

Content Provider	IEEE Xplore Digital Library
Author	Chengju Liu Qijun Chen Tao Xu
Copyright Year	2011
Description	Author affiliation: College of Electronic Information and Engineering, Tongji University, Shanghai 201804, China (Chengju Liu; Qijun Chen; Tao Xu)
Abstract	This paper presents a biological inspired control strategy for a quadruped robot. A Central pattern generator (CPG) network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. Based on genetic algorithm (GA), basic animal-like gait patterns can be realized. Moreover, the animal's vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on slope terrain. Entrainment with the sensory feedback from robot-environment interaction, the robot can walk up and down a slope smoothly. The presented CPG-based control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG network, AIBO can realize animal-like walking pattern. Couples with the body attitude feedback signals, it also can cope with slipping, falling down and walk on a slope successfully, which demonstrate the effectiveness of the proposed biological inspired control method.
Starting Page	1167
Ending Page	1172
File Size	1460466
Page Count	6
File Format	PDF
ISBN	9781612846989
e-ISBN	9781612847009
DOI	10.1109/WCICA.2011.5970700
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-21
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Joints Leg Oscillators Robot kinematics Robot sensing systems GA CPG (central pattern generator) locomotion control quadruped robot vestibular reflex
Content Type	Text
Resource Type	Article

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