Locomotion pattern generation of semi-looper type robots using central pattern generators based on van der Pol oscillators

Author

Watanabe, Keigo ; Tajima, Akihito ; Izumi, Kiyotaka

Author_Institution

Dept. of Adv. Syst. Control Eng., Saga Univ., Saga

fYear

2008

fDate

13-16 July 2008

Firstpage

377

Lastpage

382

Abstract

A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the robot is conducted using a CPG consisting of one van der Pol (VDP) oscillator. A CPG network composed of two VDP oscillators is further constructed to realize four-rhythm motion with three links and two actuators.

Keywords

actuators; mobile robots; relaxation oscillators; actuator; central pattern generator; four-rhythm motion; green caterpillar locomotion; locomotion pattern generation; semi-looper type robot; two-rhythm motion; van der Pol oscillator; Actuators; Control engineering; Leg; Motion analysis; Motion control; Oscillators; Pattern analysis; Rhythm; Robot kinematics; Tail;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on

Conference_Location

Daejeon

ISSN

1935-4576

Print_ISBN

978-1-4244-2170-1

Electronic_ISBN

1935-4576

Type

conf

DOI

10.1109/INDIN.2008.4618128

Filename

4618128