Article Contents

Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2016> 25(4): 455-462

NA Qi, HAN Bao-ling, LI Hua-shi, LUO Qing-sheng, JIA Yan. Continuous and smooth gait transition in a quadruped robot based on CPG[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(4): 455-462. doi: 10.15918/j.jbit1004-0579.201625.0403

Citation:

NA Qi, HAN Bao-ling, LI Hua-shi, LUO Qing-sheng, JIA Yan. Continuous and smooth gait transition in a quadruped robot based on CPG[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(4): 455-462.doi:10.15918/j.jbit1004-0579.201625.0403

Citation:

NA Qi, HAN Bao-ling, LI Hua-shi, LUO Qing-sheng, JIA Yan. Continuous and smooth gait transition in a quadruped robot based on CPG[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(4): 455-462.doi:10.15918/j.jbit1004-0579.201625.0403

PDF( 2286 KB)

Continuous and smooth gait transition in a quadruped robot based on CPG

doi:10.15918/j.jbit1004-0579.201625.0403

1.
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
2.
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

Received Date:2015-03-02

Abstract

Abstract

To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator (CPG) was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.
- quadruped robot,
- central pattern generator (CPG),
- continuous and smooth gait,
- gait transition,
- co-simulation

FullText(HTML)

References (20)

References

[1]	Zhang Xiuli. Biological-inspired rhythmic motion & environmental adaptability for quadruped robot[D]. Beijing: Tsinghua University, 2004. (in Chinese)
[2]	Abitbol M M. Speculation on posture, locomotion, energy consumption, and blood flow in early hominids [J]. Gait& Posture, 1995, 3(1): 29-37.
[3]	Zheng Haojun, Zhang Xiuli. Biologically-inspired motion control theory and its application for a legged-robot [M]. Beijing: Tsinghua University Press, 2011. (in Chinese)
[4]	Righetti L, Ijspeert A J. Pattern generators with sensory feedback for the control of quadruped locomotion[C]//2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008.
[5]	Wu Q D, Liu C J, Zhang J Q, et al. Survey of locomotion control of legged robots inspired by biological concept [J]. Science in China Series F: Information Science, 2009, 52(10): 1715-1729.
[6]	Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation [J]. Biological Cybernetics, 1985, 52: 367-376.
[7]	Matsuoka K. Mechanism of frequency and pattern control in the neural rhythm generators [J]. Biological Cybernetics, 1987, 56: 345-353.
[8]	Kimura H, Fukuoka Y. Adaptive dynamic walking of a quadruped robot on irregular terrain by using neural system model[C]//Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 2000.
[9]	Kimura H, Akiyama S, Sakurama K. Realization of dynamic walking and running of the quadruped using neural oscillator [J]. Autonomous Robots, 1999, 7: 247-258.
[10]	Kimura H, Fukuoka Y, Cohen A H. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts [J]. The International Journal of Robotics Research, 2007, 26(5): 475-490.
[11]	Acebron J A, Bonilla L L, Vicente C J P, et al. The Kuramoto model: a simple paradigm for synchronization phenomena [J]. Rev Mod Phys, 2005, 77: 137-185.
[12]	Righetti L, Ijspeert A J. Pattern generators with sensory feedback for the control of quadruped locomotion[C]//2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008.
[13]	Righetti L, Buchli J, Ijspeert A J. From dynamic hebbian learning for oscillators to adaptive central pattern generators[C]//Proceedings of the Third International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, Germany, 2005.
[14]	Van der Pol B, Van der Mark J. The heartbeat considered as a relaxation oscillation, and an electrical model of the heart [J]. Philosoph Mag, 1928, 6(38): 763-775.
[15]	Cristina P. Santos. Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach [J]. Robotics and Autonomous Systems 59, 2011: 620-634.
[16]	Nicole S, Pessa E. A network model with auto-oscillating output and dynamic connections [J]. Biological Cybernetics, 1994, 70(3): 275-280.
[17]	Grossberg S, Pribe C, Cohen M A. Neural control of interlimb oscillations: I. Human bimanual coordinated [J]. Biological Cybernetics, 1997, 77(2): 131-140.
[18]	Pribe C, Grossberg S, Cohen M A. Neural control of interlimb oscillations: Ⅱ. Biped and quadruped gaits and bifurcations [J]. Biological Cybernetics, 1997, 77(2): 141-152.
[19]	Canavier C C, Baxter D A, Clark J W, et al. Control of multistability in ring circuits of oscillators [J]. Biological Cybernetics, 1999, 80(2):87-102.
[20]	Zhang X L, Zheng H J, Chen L F. Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model [J]. Advanced Robotics, 2006, 20(7): 849-866.