Design of Quadruped Robot Based CPG and Fuzzy Neural Network

Author

Sun, Lei ; Meng, Max Q H ; Chen, Wanming ; Liang, Huawei ; Mei, Tao

Author_Institution

Chinese Acad. of Sci., Hefei

fYear

2007

fDate

18-21 Aug. 2007

Firstpage

2403

Lastpage

2408

Abstract

The paper proposed a method for a quadruped robot control system based central pattern generator (CPG) and fuzzy neural networks (FNN). The common approach for the control of a quadruped robot includes two methods mainly. One is the CPG that is based the bionics, the other is the dynamic control that is based the model of quadruped robot. The control result of CPG is decided by the gait data of the quadruped and the parameters of the CPG are choosing manually. Modeling a quadruped robot is difficult because it is a high nonlinear system. This paper presents a much simpler method for the control of a quadruped robot. A simple CPG is adopted for a timing oscillator; it generates the motion periodic pattern of legs. The FNN is used to control the joint motion in order to get a desired stable trajectory motion.

Keywords

biocybernetics; fuzzy control; fuzzy neural nets; mobile robots; motion control; neurocontrollers; nonlinear control systems; bionics; central pattern generator; dynamic control; fuzzy neural network; joint motion control; motion periodic pattern; nonlinear system; quadruped robot; timing oscillator; trajectory motion; Fuzzy control; Fuzzy neural networks; Leg; Legged locomotion; Motion control; Nonlinear dynamical systems; Oscillators; Robot control; Robotics and automation; Timing; Central Pattern generator (CPG); FNN; Quadruped robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2007 IEEE International Conference on

Conference_Location

Jinan

Print_ISBN

978-1-4244-1531-1

Type

conf

DOI

10.1109/ICAL.2007.4338980

Filename

4338980