Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot

Long Teng; Xingming Wu; Weihai Chen; Jianhua Wang

doi:10.1109/AIM.2013.6584112

Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot

Long Teng, Xingming Wu, Weihai Chen, Jianhua Wang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

12 Citations (Scopus)

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 frameworks and applications. One is that the exiting CPGs are almost only can be used to a special kind of robots. In this article, we present an improved method of constructing CPGs. The phase difference between the neurons which constitute the CPGs can be set to a random numeric number to fulfill different frameworks and applications. And also we use this kind of CPGs to successfully solve the problem which the quadruped robot can't lift it hind limbs from the ground during a walk gait locomotion.

Original language	English
Title of host publication	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Subtitle of host publication	Mechatronics for Human Wellbeing, AIM 2013
Pages	325-329
Number of pages	5
DOIs	https://doi.org/10.1109/AIM.2013.6584112
Publication status	Published - 9 Jul 2013
Externally published	Yes
Event	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia Duration: 9 Jul 2013 → 12 Jul 2013

Publication series

Name	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

Conference

Conference	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Country/Territory	Australia
City	Wollongong, NSW
Period	9/07/13 → 12/07/13

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering

More information

10.1109/AIM.2013.6584112

Cite this

Teng, L., Wu, X., Chen, W., & Wang, J. (2013). Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 (pp. 325-329). Article 6584112 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013). https://doi.org/10.1109/AIM.2013.6584112

Teng, Long ; Wu, Xingming ; Chen, Weihai et al. / Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. pp. 325-329 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).

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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 frameworks and applications. One is that the exiting CPGs are almost only can be used to a special kind of robots. In this article, we present an improved method of constructing CPGs. The phase difference between the neurons which constitute the CPGs can be set to a random numeric number to fulfill different frameworks and applications. And also we use this kind of CPGs to successfully solve the problem which the quadruped robot can't lift it hind limbs from the ground during a walk gait locomotion.",

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Teng, L, Wu, X, Chen, W & Wang, J 2013, Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot. in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013., 6584112, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, pp. 325-329, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, Wollongong, NSW, Australia, 9/07/13. https://doi.org/10.1109/AIM.2013.6584112

Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot. / Teng, Long; Wu, Xingming; Chen, Weihai et al.
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. p. 325-329 6584112 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Teng L, Wu X, Chen W, Wang J. Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. p. 325-329. 6584112. (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013). doi: 10.1109/AIM.2013.6584112

Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot

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