Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
In this paper, we propose a CPG (central pattern generator) network control system using motor dynamics for the gait planning of a quadruped robot with a trot walking pattern to climb up and down a slope and turn back and follow the symmetry of route. The CPG unit model, which includes two DC motors...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | article |
| Language: | EN |
| Published: |
MDPI AG
2021
|
| Subjects: | |
| Online Access: | https://doaj.org/article/4b282e5037fc440b96b79e1a815526c0 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|