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

Long Teng, Xingming Wu, Weihai Chen, Jianhua Wang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (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 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.

Original languageEnglish
Title of host publicationINDIN 2012 - IEEE 10th International Conference on Industrial Informatics
Pages586-590
Number of pages5
DOIs
Publication statusPublished - 2012
Externally publishedYes
EventIEEE 10th International Conference on Industrial Informatics, INDIN 2012 - Beijing, China
Duration: 25 Jul 201227 Jul 2012

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)1935-4576

Conference

ConferenceIEEE 10th International Conference on Industrial Informatics, INDIN 2012
Country/TerritoryChina
CityBeijing
Period25/07/1227/07/12

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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