DocumentCode
1886023
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
fYear
2013
fDate
16-17 Jan. 2013
Firstpage
409
Lastpage
414
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2013 Fifth International Conference on
Conference_Location
Hong Kong
Print_ISBN
978-1-4673-5652-7
Type
conf
DOI
10.1109/ICMTMA.2013.103
Filename
6493754
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