NDLI: CPG driven locomotion control of quadruped robot

Content Provider	IEEE Xplore Digital Library
Author	Chengju Liu Yifei Chen Jiaqi Zhang Qijun Chen
Copyright Year	2009
Description	Author affiliation: School of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China (Chengju Liu; Yifei Chen; Jiaqi Zhang; Qijun Chen)
Abstract	According to biological evidences, central pattern generators (CPGs) are neural networks responsible for the generation of rhythmic movements for animals, such as breathing, heartbeat, and locomotion, even when isolated from the brain and sensory inputs. Inspired by this mechanism, researchers have proposed the CPG driven control method as a new way to generate rhythmic control policies for the locomotion of legged robots. In this work, we design a CPG control construction for controlling the locomotion of a quadruped robot, which is capable of realizing the different gaits and gait transitions. Firstly, a body CPG network is constructed by mutually coupled phase oscillators, which can produce multiple phase-locked oscillation patterns that correspond to the four basic quadruped gaits. The gait transitions can be realized by altering the internal oscillator parameters. Then, we design a robotic platform based on Webots and AIBO, and realize dynamic locomotion with the designed CPG network for AIBO. The Simulation and experimental results demonstrate the proposed CPG network is effective to generate gait patterns for quadruped robots.
Starting Page	2368
Ending Page	2373
File Size	295636
Page Count	6
File Format	PDF
ISBN	9781424427932
ISSN	1062922X
DOI	10.1109/ICSMC.2009.5346399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Oscillators Robot sensing systems Biological control systems Animals Biological system modeling Legged locomotion Cybernetics USA Councils Centralized control Webots CPG quadruped robot gait pattern gait transition AIBO
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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