Research on Gait Planning Algorithm of Quadruped Robot Based on Central Pattern Generator

Ma, Zihan; Liang, Yanbing; Hua, Tian

doi:10.23919/ccc50068.2020.9188942

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…Therefore, Hopf oscillator is used as the unit model for constructing CPG network, and the external feedback information is introduced into the CPG control system. The single Hopf oscillator expression is [31]:…”

Section: Multi-layer Cpg Control Model For Body Joint Robotmentioning

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: Multi-layer Cpg Control Model For Body Joint Robotmentioning

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

“…+T B4A2 g βA2 y βA2 + I βB2 (14) where the meanings of parameters τ , y , and so on are the same as in Eq. ( 2).…”

Section: Terrains Interneuron Network Of the H-cpgmentioning

confidence: 99%

“…Some well-known examples include a salamander robot [5], snake-shaped robot [6,7], fish/dolphin-shaped robot [8,9,10], and multiped robot. [11,12,13,14,15,16,17] Meanwhile, the CPG mechanism has also been applied to the walking control of biped and humanoid robots [18,19,20,21,22,23,24].…”

Section: Introductionmentioning

confidence: 99%

Humanoid adaptive locomotion control through a bioinspired CPG-based controller

Yao

Liu

et al. 2021

Robotica

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To achieve adaptive gait planning of humanoid robots, a hierarchical central pattern generator (H-CPG) model with a basic rhythmic signal generation layer and a pattern formation layer is proposed to modulate the center of mass (CoM) and the online foot trajectory. The entrainment property of the CPG is exploited for adaptive walking in the absence of a priori knowledge of walking conditions, and the sensory feedback is applied to modulate the generated trajectories online to improve walking adaptability and stability. The developed control strategy is verified using a humanoid robot on sloped terrain and shows good performance.

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“…They used their algorithm for reaching to gait switching, while the duty factor and speed would be changed continuously. Moreover, in other references like [25], a CPG model for autonomous decentralized quadruped robot proposed and necessary conditions for the gait transition in CPG network are developed. In this paper, in comparison to another related CPG-based algorithm in the joint space, a CPG network and its modulation are applied for developing motor skills in the Cartesian space.…”

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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Research on Gait Planning Algorithm of Quadruped Robot Based on Central Pattern Generator

Cited by 5 publications

References 9 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

Humanoid adaptive locomotion control through a bioinspired CPG-based controller

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

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