Research on Gait Planning Algorithm of Quadruped Robot Based on Central Pattern Generator | |
Ma, Zihan; Liang, Yanbing; Tian, Hua | |
2020-07 | |
会议日期 | 2020-07-27 |
会议地点 | Shenyang, China |
关键词 | Hopf Oscillator CPG Quadruped Robot Gait Planning Webots MATLAB |
卷号 | 2020-July |
DOI | 10.23919/CCC50068.2020.9188942 |
页码 | 3948-3953 |
英文摘要 | The characteristics of Hopf oscillator are analyzed, and the feasibility of its application in gait generation of quadruped robot is discussed. Two kinds of CPG control networks are constructed by using Hopf oscillator and the structures of the two networks are analyzed and modeled. These two CPG can produce stable gait with strict phase relationship. The robot simulation software Webots and MATLAB are used for co-simulation. According to the output control signal of CPG network, each joint of quadruped robot is controlled and trot gait planning is realized. The simulation results show that the CPG network constructed by Hopf oscillator can achieve good gait planning for quadruped robot, which has the advantages of simple model and clear thinking. © 2020 Technical Committee on Control Theory, Chinese Association of Automation. |
产权排序 | 1 |
会议录 | Proceedings of the 39th Chinese Control Conference, CCC 2020 |
会议录出版者 | IEEE Computer Society |
语种 | 英语 |
ISSN号 | 19341768;21612927 |
ISBN号 | 9789881563903 |
WOS记录号 | WOS:000629243504015 |
内容类型 | 会议论文 |
源URL | [http://ir.opt.ac.cn/handle/181661/93720] |
专题 | 西安光学精密机械研究所_光电测量技术实验室 |
作者单位 | University of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics of Cas, Xi'an; 710119, China |
推荐引用方式 GB/T 7714 | Ma, Zihan,Liang, Yanbing,Tian, Hua. Research on Gait Planning Algorithm of Quadruped Robot Based on Central Pattern Generator[C]. 见:. Shenyang, China. 2020-07-27. |
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