NDLI: Central pattern generators of adaptive frequency for locomotion control of quadruped robots

Content Provider	IEEE Xplore Digital Library
Author	Long Teng Xingming Wu Weihai Chen Jianhua Wang
Copyright Year	2012
Description	Author affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing, China (Long Teng; Xingming Wu; Weihai Chen; Jianhua Wang)
Abstract	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.
Starting Page	586
Ending Page	590
File Size	734302
Page Count	5
File Format	PDF
ISBN	9781467303125
e-ISBN	9781467303118
DOI	10.1109/INDIN.2012.6300899
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Robot sensing systems Mathematical model Joints Oscillators
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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