Knowledge Commons of Institute of Automation,CAS
A Multi-module Controller for Walking Quadruped Robots | |
Wang, Boxing; Wan, Ziwei; Zhou, Chunlin; Wu, Jun; Qiu, Yanfeng; Gao, Zhijun | |
发表期刊 | Journal of Bionic Engineering |
2019-04 | |
卷号 | 16期号:1页码:253-263 |
摘要 | Motion control based on biologically inspired methods, such as Central Pattern Generator (CPG) models, offers a promising technique for robot control. However, for a quadruped robot which needs to maintain balance while performing flexible movements, this technique often requires a complicated nonlinear oscillator to build a controller, and it is difficult to achieve agility by merely modifying the predefined limit cycle in real time. In this study, we tried to solve this problem by constructing a multi-module controller based on CPG. The different parallel modules will ensure the dynamic stability and agility of walking. In the proposed controller, a specific control task is accomplished by adding basic and superposed motions. The basic motions decide the basic foot end trajectories, which are generated by the predefined limit cycle of the CPG model. According to conventional kinematics-based design, the superposed motions are generated through different modules alter the basic foot end trajectories to maintain balance and increase agility. As a considerable stability margin can be achieved, different modules are designed separately. The proposed CPG-based controller is capable of stabilizing a walking quadruped robot and performing start and stop movements, turning, lateral movement and reversal in real time. Experiments and simulations demonstrate the effectiveness of the method. |
关键词 | Central Pattern Generator open-loop stability agile locomotion control quadruped robots |
收录类别 | SCIE |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47458 |
专题 | 多模态人工智能系统全国重点实验室_仿生进化机器人 |
通讯作者 | Zhou, Chunlin |
推荐引用方式 GB/T 7714 | Wang, Boxing,Wan, Ziwei,Zhou, Chunlin,et al. A Multi-module Controller for Walking Quadruped Robots[J]. Journal of Bionic Engineering,2019,16(1):253-263. |
APA | Wang, Boxing,Wan, Ziwei,Zhou, Chunlin,Wu, Jun,Qiu, Yanfeng,&Gao, Zhijun.(2019).A Multi-module Controller for Walking Quadruped Robots.Journal of Bionic Engineering,16(1),253-263. |
MLA | Wang, Boxing,et al."A Multi-module Controller for Walking Quadruped Robots".Journal of Bionic Engineering 16.1(2019):253-263. |
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A Multi-module Contr(2969KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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