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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2018> 27(2): 257-266
Zhuo Ge, Qingsheng Luo, Baoling Han, Qi Na. Slope Terrain Locomotion Control of a Quadruped Robot Based on Biological Reflex CPG Model[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2018, 27(2): 257-266. doi: 10.15918/j.jbit1004-0579.201827.0214
Citation: Zhuo Ge, Qingsheng Luo, Baoling Han, Qi Na. Slope Terrain Locomotion Control of a Quadruped Robot Based on Biological Reflex CPG Model[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2018, 27(2): 257-266.doi:10.15918/j.jbit1004-0579.201827.0214
shu

Slope Terrain Locomotion Control of a Quadruped Robot Based on Biological Reflex CPG Model

doi:10.15918/j.jbit1004-0579.201827.0214
  • 1.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;Marine Design and Research Institute of China, Shanghai 200011, China;Science and Technology on Water Jet Propulsion Laboratory, Shanghai 200011, China

  • 2.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 3.

    School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • Received Date:2017-03-15
    Abstract
  • Inspired by the neuronal principles underlying the tetrapod locomotion, this paper proposed a biomimetic vestibular reflex central pattern generator(CPG) model to improve motion performance and terrain adaptive ability of a quadruped robot in complex situations,which is on the basis of central pattern generator (CPG)model constructed by modified Hopf oscillators. The presented reflex model was modified in the light of the particular joint configuration of the quadruped robot and the trot gait pattern. Focusing on slop locomotion of the quadruped robot with trot gaits,the co-simulations of the ADAMS virtual prototype,CPG mathematical expressions with vestibular reflex and Simulink control model were conducted. The simulation results demonstrated that the presented CPG controller with vestibular reflex was more efficient and stable for the quadruped robot trotting on slopes,compared with the different trotting control models.
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    • References (14)
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