Effectiveness of central pattern generator model on developed one legged hopping robot

Author

Rahim, N.H.A. ; Kassim, A.M. ; Miskon, M.F. ; Azahar, A.H.

Author_Institution

Fac. of Electr. Eng., Univ. Teknikal Malaysia Melaka, Hang Tuah Jaya, Malaysia

fYear

2011

fDate

19-20 Dec. 2011

Firstpage

85

Lastpage

88

Abstract

The paper presents the validity of using Central Pattern Generator (CPG) model to develop one leg hopping robot which hops higher and rhythmically. Infrared Ranging (IR) sensor is mounted on a platform to measure the distance of hopping performance. The distances of IR sensor from the platform to the floor in both static and vertical jumping motion are measured. MATLAB & Simulink model including CPG model is designed to evaluate the performance of IR sensor by converting the measurement data from IR sensor from voltage to distance by using function blocks. The result shows that the one leg hopping robot with CPG model is able to achieve maximum hopping height at 4cm.

Keywords

infrared detectors; legged locomotion; MATLAB; central pattern generator model; infrared ranging sensor; legged hopping robot; simulink model; vertical jumping motion; Legged locomotion; Mathematical model; Pneumatic systems; Robot kinematics; Robot sensing systems; Voltage measurement; CPG model; One leg hopping robot; maximum hopping height;

fLanguage

English

Publisher

ieee

Conference_Titel

Research and Development (SCOReD), 2011 IEEE Student Conference on

Conference_Location

Cyberjaya

Print_ISBN

978-1-4673-0099-5

Type

conf

DOI

10.1109/SCOReD.2011.6148713

Filename

6148713