Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control

Gu, Sai; Meng, Fei; Liu, Botao; He, Zewen; Fan, Xiaochen; Ming, Aiguo; Huang, Qiang

doi:10.1109/icarm49381.2020.9195345

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…The pneumatic bionic quadruped robot Pneupard of Osaka University generates CPG signals based on the interaction between the robot's pneumatic muscles and bones without relying on external signals to control limb movements, allowing rhythmic cycling back to initial values at each step, which is essentially closer to the biological motion system [24]. Gu et al used a Hopf oscillator as the high-level controller and an impedance controller as the low-level controller to control a quadruped robot for smooth motion [25]. Bai et al applied a modified Hopf oscillator to CPG control and proposed a smooth gait switching method to achieve fast, stable, smooth, and continuous gait transitions [26].…”

Section: Introductionmentioning

confidence: 99%

Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

Song,

Ai,

Tong

et al. 2023

Bioinspir. Biomim.

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Quadruped robots have frequently appeared in various situations, including wilderness rescue, planetary exploration, and nuclear power facility maintenance. The quadruped robot with an active body joint has better environmental adaptability than one without body joints. However, it is difficult to guarantee the stability of the body joint quadruped robot when walking on rough terrain. Given the above issues, this paper proposed a gait control method for the body joint quadruped robot based on multi-constraint spatial coupling (MCSC) algorithm. The body workspace of the robot is divided into three subspaces, which are solved for different gaits, and then coupled to obtain the stable workspace of the body. A multi-layer central pattern generator (CPG) model based on the Hopf oscillator is built to realize the generation and switching of walk and trot gaits. Then, combined with the MCSC area of the body, the reflex adjustment strategy on different terrains is established to adjust the body’s posture in real time and realize the robot's stable locomotion. Finally, the robot prototype is developed to verify the effectiveness of the control method. The simulation and experiment results show that the proposed method can reduce the offset of the swing legs and the fluctuation of the body attitude angle. Furthermore, the quadruped robot is ensured to maintain stability by dynamically modifying its body posture. The relevant result can offer a helpful reference for the control of quadruped robots in complex environments.

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Section: Introductionmentioning

confidence: 99%

Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

Song,

Ai,

Tong

et al. 2023

Bioinspir. Biomim.

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show abstract

“…Also, most of the researchers used these locomotion scenarios in joint space of the robot. Instead, other references [33][34][35][36] applied multiple decoupled CPGs with interactions between body dynamics and the environment for interlimb coordination in the joint space of the robot. Conversely, in this paper, foot trajectories are obtained with Cartesian footstep planner by deriving the time gait information and its nominal characteristics from CPG.…”

Section: Introductionmentioning

confidence: 99%

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

Asadi¹,

Khorram²,

Moosavian³

2021

World J. Adv. Res. Rev.

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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.

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Workspace trajectory generation with smooth gait transition using CPG-based locomotion control for hexapod robot

Helal,

Albadin,

Albitar

et al. 2024

Heliyon

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Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control

Cited by 3 publications

References 14 publications

Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

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

Workspace trajectory generation with smooth gait transition using CPG-based locomotion control for hexapod robot

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