An Integrated Programmable CPG with Bounded Output
Venus Pasandi,
Hamid Sadeghian,
Mehdi Keshmiri
et al.
Abstract:Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this purpose, we present an integrated programmable Central Pattern Generator (CPG) for the online generation of the reference joint trajectory of a robotic system out of a library of desired periodic motions. The reference trajectory is then followed by the lowerlevel controller of… Show more
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