Title :
Nonlinear motion control of CPG-based movement with applications to a class of swimming robots
Author :
Morel, Yannick ; Porez, Mathieu ; Leonessa, Alexander ; Ijspeert, Auke J.
Author_Institution :
BioRobotics Lab., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland
Abstract :
In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot´s motion. This paper presents an output feedback motion control framework, addressing issues encountered when dealing with this type of control problem, including partial state measurements and system uncertainty. Efficacy of the presented approach is illustrated by results of numerical simulations in the case of a swimming robot.
Keywords :
actuators; feedback; mobile robots; motion control; nonlinear control systems; numerical analysis; CPG-based movement; actuation; bioinspired robotics; central pattern generator; nonlinear motion control; numerical simulations; output feedback; partial state measurements; swimming robots; system uncertainty; Legged locomotion; Mathematical model; Oscillators; Robot kinematics; Trajectory; Uncertainty;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160419