Knowledge Commons of Institute of Automation,CAS
Smooth Gait Transition Based on CPG Network for A Quadruped Robot | |
Shang LL(尚琳琳)![]() ![]() ![]() | |
2019-07 | |
会议名称 | 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
会议日期 | 08-12 July 2019 |
会议地点 | Hong Kong, China |
摘要 | Aiming at achieving smooth gait transition for quadruped robots, we present a Hopf oscillator-based Central Pattern Generator (CPG) with controllable phase relationships in this paper. The proposed CPG controller can facilitate changing parameters to generate different locomotion gaits. Particularly, required phase relationships between every two oscillators can be obtained by modulating the duty factor and relative phases of legs. Therefore, smooth rhythmic signals for gait transition are generated. Moreover, the onset of the gait transition can be designed accurately. Finally, we verify the effectiveness of our controller on a simulated quadruped robot. Smooth and stable transition among walk, trot and pace gait has been achieved. Both transition from walk to trot and trot to pace are finished in a second. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48866 |
专题 | 复杂系统认知与决策实验室_决策指挥与体系智能 模式识别实验室 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing, 100190, China. 2.University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China |
推荐引用方式 GB/T 7714 | Shang LL,Li Zhaoshenng,Wang Wei,et al. Smooth Gait Transition Based on CPG Network for A Quadruped Robot[C],2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
08868916.pdf(617KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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