Dynamic properties of VDP-CPG model in rhythmic movement with delay

Abstract

<abstract> <p>In this paper, Van Der Pol (VDP) oscillators are used as the output signal of central pattern generator (CPG), and a VDP-CPG network system of quadruped with four primary gaits (walk, trot, pace and bound) is established. The existence conditions of Hopf bifurcations for VDP-CPG systems corresponding to four primary gaits are given, and the coupling strength ranges between oscillators for four gaits are obtained. Numerical simulations are used to support theoretical analysis.</p> </abstract>

Motion coordination control of planar 5R parallel quadruped robot based on SCPL-CPG

“…Considering the influence of the coupling between the hip joint and the knee joint, with given joint angular displacements u 1 and u 4 , the knee joint angular displacements u 2 can be obtained through equation (2). Then it transforms into the knee joint angle control signal u ki (t) through the transformation equation of equation (20).…”

“…The CPG algorithm has been used to realize the smooth transition between different gaits of the hexapod robot 17,18 and walking under different terrains. 19 Liu and Zhang 20 and Liu et al 21 realize the movement of a quadruped robot in different gaits by using a CPG control network composed of different oscillators. Liu et al 8 and Santos et al 22 applied CPG control strategy to the motion control of the biped robot.…”