CPG Control for Biped Hopping Robot in Unpredictable Environment

Wang, Tingting; Wei, Guo; Li, Mantian; Zha, Fusheng

doi:10.1016/s1672-6529(11)60094-2

Cited by 44 publications

(20 citation statements)

References 14 publications

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“…One CPG will control one joint angle of the snake-like robot. Due to the fact that the propelling force of the serpentine motion of a snake-like robot comes from the interaction of the robot with the ground by swinging the joints from side to side [1], therefore, it is crucial to control the joint angle with constant phase difference. The parameter ϕ of the phase oscillator shows a clear relation to the CPG output [10].…”

Section: B Structure Of Cpgmentioning

confidence: 99%

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CPG-based locomotion control of a snake-like robot for obstacle avoidance

Nor

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a biomimetic approach based on central pattern generator (CPG), to control turning motion of a snake-like robot. One of the interesting features of a biological snake is its ability to avoid obstacles or a barrier by turning its whole body from its trajectory. This special obstacle avoidance motion is different from other types of animal, and thus, it is worth to be analyzed and realized into a snake-like robot. The paper first briefly explains: 1) the phase oscillator model which represents the CPG model and 2) the CPG network. Next, we address several issues related to the existing/typical turning control of a snake-like robot. We then propose the phase transition method utilizing the phase difference control parameter to realize the turning motion of a snake-like robot. We also introduce a new parameter to control the turning of the robot, where it provides a way to incorporate sensory feedback into the CPG model. Simulation results show that the proposed turning method can be used efficiently as an obstacle avoidance method for a snake-like robot.

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Section: B Structure Of Cpgmentioning

confidence: 99%

“…Different types of bio-inspired mobile robots offer different ways of avoiding obstacles or barrier. For instance, biped hopping robot [1] can utilize its two legs to jump over a barrier. In [2,3], the quadruped robot crosses an obstacle by lifting up their legs according to the obstacle's height.…”

Section: Introductionmentioning

confidence: 99%

CPG-based locomotion control of a snake-like robot for obstacle avoidance

Nor

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…Jumping motions have obvious advantages in uneven physiognomy or rugged environment compared to crawl and walking mode. Therefore, many jumping robots have been being developed in recent years [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16]. M Kovač et.al proposed a novel spherical robot with the function of jump, recovery and orienting itself [1].…”

Section: Introductionmentioning

confidence: 99%

“…K Hosoda et.al studied human muscular skeleton mechanism and designed a humanoid jumping robot driven by pneumatic muscle actuators [2]. T Wang proposed a CPG control mechanism for hopping motion of biped robot in unpredictable circumstances [3]. In the research, the motion control task is divided into motion sequence control and output force control.…”

Section: Introductionmentioning

confidence: 99%

A Novel Locust-inspired Jumping Robot Driven by Pneumatic Muscle Actuators

Zhong¹,

Zhao²,

Su³

2018

Proceedings of the 2018 7th International Conference on Energy and Environmental Protection (ICEEP 2018)

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Jumping robots have been a hot research spot, since they are playing an important role in the modern wars, aviation and exploration, due to their good ability in obstacle surmounting, excellent adaptability to the ground and strong adaptability to the environment. This paper presents a novel bionic locust jumping robot driven by pneumatic muscle actuators. Dynamic simulation in Adams software is carried out to validate the scheme of the robot. The simulation results prove the feasibility of the design, and provide a reference for the selection of pneumatic muscles.

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“…While the simulations reflect the properties of CPG movements, the real-time signals are obtained by hardware implementations. The locomotion control problem of swimming, flying, or 2, 4, and 6-legged living beings are solved with robotic applications by using these signals [6,8,11,24,[26][27][28]36,40,59,60,69]. Designing robotic systems that can mimic the locomotion of living beings is getting more and more attraction by researchers in both undergraduate and graduate levels.…”

mentioning

confidence: 99%

Modeling, simulation, and implementation issues of CPGs for neuromorphic engineering applications

Korkmaz

Öztürk

Kılıç

2018

Comp Applic In Engineering

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Neuromorphic engineering is a discipline used to develop hardware, which can mimic the characteristics and abilities of biological systems by investigating their physiological structures and data transfer mechanisms. The recent studies about the neuromorphic systems mostly consist of robotic applications whose designs are inspired by Central Pattern Generators (CPGs). CPGs are special neural networks which can produce coordinated rhythmic activity patterns and these rhythmic movements are modeled mathematically, tested with simulation programs and verified by hardware implementations. A reconfigurable hardware platform (Field Programmable Gate Array “FPGA”) is compatible with numerical simulation tools, allows software control over hardware, has a user‐friendly interface and allows real time modifications. Thus, recently, it is preferred in CPG based robotic applications. In this study, the details of the modeling, simulation and implementation stages of several CPG structures are introduced by using a digital reconfigurable hardware platform. In order to show the conceptual learning achievements of these stages and to assess the contribution to the modeling, simulation and implementation skills of the students, a training course has been planned for the undergraduate students at Erciyes University. This process has been held in an educative manner supported by a survey and an experimental examination, so that this training course has been evaluated by the trainees in terms of the advantage, practicality, and challenge.

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CPG Control for Biped Hopping Robot in Unpredictable Environment

Cited by 44 publications

References 14 publications

CPG-based locomotion control of a snake-like robot for obstacle avoidance

CPG-based locomotion control of a snake-like robot for obstacle avoidance

A Novel Locust-inspired Jumping Robot Driven by Pneumatic Muscle Actuators

Modeling, simulation, and implementation issues of CPGs for neuromorphic engineering applications

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