Title :
CPG-based Control System for Foot Locomotion of Gecko-inspired Robot
Author :
Chongyang Hu ; Tao Mei ; Shaoming Sun ; Yanwei Liu ; Xuan Wu ; Yongjie Zhang
Author_Institution :
Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
In this paper, a CPG-based hierarchical control system for the gecko-inspired robot is proposed to accomplish the detachment and attachment movements and to realize crossing obstacles. We designed a CPG nervous network with feedback connection, which can produce adaptive patterns for extra environments. Simulations were carried out to test the system´s realization. Experiments show that the control strategy is feasible and make it easier for the robot to attach and detach.
Keywords :
adaptive control; collision avoidance; feedback; legged locomotion; neurocontrollers; CPG nervous network; CPG-based control system; adaptive patterns; attachment movements; central pattern generator; crossing obstacles; detachment movements; feedback connection; foot locomotion; gecko-inspired robot; hierarchical control system; Foot; Hip; Joints; Knee; Mathematical model; Oscillators; Robots; CPG modeling; G. gecko; Hierarchical control; MATLAB simulation; Quadruped robot;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2013 Fifth International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4673-5652-7
DOI :
10.1109/ICMTMA.2013.103
