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...

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Autores principales:	Yong Zhang, Hao Wang, Yi Ding, Beiping Hou
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	quadruped robot CPG networks adaptive walking limit cycle Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/4b282e5037fc440b96b79e1a815526c0
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id	oai:doaj.org-article:4b282e5037fc440b96b79e1a815526c0
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spelling	oai:doaj.org-article:4b282e5037fc440b96b79e1a815526c02021-11-25T19:06:39ZAdaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network10.3390/sym131120902073-8994https://doaj.org/article/4b282e5037fc440b96b79e1a815526c02021-11-01T00:00:00Zhttps://www.mdpi.com/2073-8994/13/11/2090https://doaj.org/toc/2073-8994In 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 model, has the ability to generate the periodic joint angle with complex-value parameters. Through plural feedback parameters, the CPG network can adjust the frequency and amplitude of an internal neuron model such as a robot meeting an irregular surface of a road. Using the stride length and frequency of robot joint angles, the distance of walking with a trot pattern can be calculated. In order to confirm the validity of the proposed control system, a quadruped robot is produced to implement the adaptive walking system.Yong ZhangHao WangYi DingBeiping HouMDPI AGarticlequadruped robotCPG networksadaptive walkinglimit cycleMathematicsQA1-939ENSymmetry, Vol 13, Iss 2090, p 2090 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	quadruped robot CPG networks adaptive walking limit cycle Mathematics QA1-939
spellingShingle	quadruped robot CPG networks adaptive walking limit cycle Mathematics QA1-939 Yong Zhang Hao Wang Yi Ding Beiping Hou Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
description	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 model, has the ability to generate the periodic joint angle with complex-value parameters. Through plural feedback parameters, the CPG network can adjust the frequency and amplitude of an internal neuron model such as a robot meeting an irregular surface of a road. Using the stride length and frequency of robot joint angles, the distance of walking with a trot pattern can be calculated. In order to confirm the validity of the proposed control system, a quadruped robot is produced to implement the adaptive walking system.
format	article
author	Yong Zhang Hao Wang Yi Ding Beiping Hou
author_facet	Yong Zhang Hao Wang Yi Ding Beiping Hou
author_sort	Yong Zhang
title	Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
title_short	Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
title_full	Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
title_fullStr	Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
title_full_unstemmed	Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network
title_sort	adaptive walking control for a quadruped robot on irregular terrain using the complex-valued cpg network
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/4b282e5037fc440b96b79e1a815526c0
work_keys_str_mv	AT yongzhang adaptivewalkingcontrolforaquadrupedrobotonirregularterrainusingthecomplexvaluedcpgnetwork AT haowang adaptivewalkingcontrolforaquadrupedrobotonirregularterrainusingthecomplexvaluedcpgnetwork AT yiding adaptivewalkingcontrolforaquadrupedrobotonirregularterrainusingthecomplexvaluedcpgnetwork AT beipinghou adaptivewalkingcontrolforaquadrupedrobotonirregularterrainusingthecomplexvaluedcpgnetwork
_version_	1718410275504259072

Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network

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