CPG-based gait transition of a quadruped robot

Asadi, Fatemeh; Khorram, Mahdi; Moosavian, S. Ali A.

doi:10.1109/icrom.2015.7367786

Cited by 11 publications

(8 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It controls and adjusts the periodic stepping sequence, and also the diffusive coupling is used in the CPG. These coupling equations are presented in the below equations [22,23].…”

Section: Design Of Central Pattern Generator With Coupled Nonlinear Oscillatorsmentioning

confidence: 99%

“…After discretization process of the ZMP equations in (23), a ZMP tracking servo controller is designed for compensation of ZMP tracking error and additional constraints associated from terminal ZMP and initial and final conditions [22][23]. Based on the reference ZMP trajectory, 𝑝 𝑟𝑒𝑓 (i), the control problem can be determined as:…”

Section: Deriving Cog Path Generation From Cartesian Footstep Plannermentioning

confidence: 99%

“…However, with applying their approach, the ability to define any desirable scenario for gait event sequences is not possible and only the limited set of gaits can be reachable. For reaching to any desirable locomotion scenario, in our previous works such as [22,23], adaptable CPG networks are developed, which encode foothold positions in respect to the planar obstacles as a forbidden area which can be modulated CPG by feedback signals. Alternatively, references like [24] applied different adaption rules with adaptive oscillators, which called adaptable ring rules.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Asadi¹,

Khorram²,

Moosavian³

2021

World J. Adv. Res. Rev.

View full text Add to dashboard Cite

Central Pattern Generator (CPG) plays a significant role in the generation of diverse and stable gaits patterns for animals as well as controlling their locomotion. The main contributions of this paper are the ability to develop the Cartesian motor skills and coordinating legs of the quadruped robot for gait adaption and its nominal characteristics with CPG approach. Primary, a predefined relationship between an excitation signal and essential parameters of the CPG design is programmed. Next, the coordinated oscillator's rhythmic patterns by CPG and accordingly output gait diagrams for each foot of the robot are attained. Then, these desirable features such as predictive modulation and programming the gait event sequences including leg-lifting sequences and step length, duration of the time of each footstep within a gait, coordination of swing and stance phases of all legs are calculated in terms of different spatio_temporal vectors. Furthermore, a novel Cartesian footstep basis function is designed based on the robot characteristics and consequently, the associated spatio-temporal vectors can be inserted to it, which caused to spanning the space of possible gait timing in Cartesian space. Next, Cartesian footstep planner can be computed the swing foot trajectories in workspace along movement axes and then according to these footholds and feet placement, ZMP (Zero Moment Point) reference trajectory will be calculated and obtained. Therefore, COG (Center of Gravity) trajectory can be computed by designing a preview controller on the basis of the desired ZMP trajectory. Finally, to demonstrate the effectiveness of the proposed algorithm, it is implemented on a quadruped robot on both simulation or experimental implementations and the results are compared and discussed with other references.

show abstract

“…It controls and adjusts the periodic stepping sequence, and also the diffusive coupling is used in the CPG. These coupling equations are presented in the below equations [22,23].…”

Section: Design Of Central Pattern Generator With Coupled Nonlinear Oscillatorsmentioning

confidence: 99%

Section: Deriving Cog Path Generation From Cartesian Footstep Plannermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Asadi¹,

Khorram²,

Moosavian³

2021

World J. Adv. Res. Rev.

View full text Add to dashboard Cite

show abstract

“…The animal's body structure also regulates the gait pattern, which means every kind of animal has different gait efficiencies. Nakada et al propose a neuromorphic locomotion model with a CMOS (Complementary Metal Oxide Semiconductor) controller for inter-limb coordination in quadrupedal robots (Nakada et al, 2003), while other researchers propose central pattern generation (CPG) for quadrupedal robot locomotion (Ijspeert and Cabelguen, 2006) (Asadi et al, 2015) (Maufroy et al, 2008) (Zhang et al, 2014a) (Sun et al, 2018) (Liu et al, 2018). Ijspeert's group proposed CPG-based control of their salamander robot (Ijspeert and Cabelguen, 2006), which can transition dynamically from walking to swimming.…”

Section: Introductionmentioning

confidence: 99%

AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities

et al. 2021

View full text Add to dashboard Cite

There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development.

show abstract

“…Simulation and experiment to get a gait pattern by Genetic Algorithm were given by [17]. Generation of gait pattern via central pattern generator (CPG) was proposed by [18,19], and an adaptive approach of CPG was introduced by [20]. Integration of trot gait to CPG was presented by [21]; the combination of trot and walk gait was proposed by [22].…”

Section: Introductionmentioning

confidence: 99%

Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics

Muslim¹,

Rusli²,

Zufaryansyah³

et al. 2019

Bulletin EEI

View full text Add to dashboard Cite

As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

show abstract

CPG-based gait transition of a quadruped robot

Cited by 11 publications

References 5 publications

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities

Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics

Contact Info

Product

Resources

About