NDLI: Hexapod locomotion: A nonlinear dynamical systems approach

Content Provider	IEEE Xplore Digital Library
Author	Campos, R. Matos, V. Santos, C.
Copyright Year	2010
Description	Author affiliation: Industrial Electronics Department, University of Minho, Guimaraes, Portugal (Campos, R.; Matos, V.; Santos, C.)
Abstract	The ability of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and switch between different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators formulated as nonlinear oscillators. These patterns are modulated by a drive signal, proportionally changing the oscillators frequency, amplitude and the coupling parameters among the oscillators. Locomotion initiation, stopping and smooth gait switching is achieved by changing the drive signal. We also demonstrate a posture controller for hexapod robots using the dynamical systems approach. Results from simulation using a model of the Chiara hexapod robot demonstrate the capability of the controller both to locomotion generation and smooth gait transition. The postural controller is also tested in different situations in which the hexapod robot is expected to maintain balance. The presented results prove its reliability.
Starting Page	1546
Ending Page	1551
File Size	943310
Page Count	6
File Format	PDF
ISBN	9781424452255
ISSN	1553572X
DOI	10.1109/IECON.2010.5675454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Trajectory Joints Oscillators Legged locomotion Robot kinematics
Content Type	Text
Resource Type	Article

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