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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 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 languageEnglish
Title of host publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Subtitle of host publicationMechatronics for Human Wellbeing, AIM 2013
Pages325-329
Number of pages5
DOIs
Publication statusPublished - 9 Jul 2013
Externally publishedYes
Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
Duration: 9 Jul 201312 Jul 2013

Publication series

Name2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

Conference

Conference2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Country/TerritoryAustralia
CityWollongong, NSW
Period9/07/1312/07/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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