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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wenlu Li Weihai Chen Xingming Wu Jianhua Wang |
| Copyright Year | 2015 |
| Description | Author affiliation: Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China (Wenlu Li; Weihai Chen; Xingming Wu; Jianhua Wang) |
| Abstract | In the Central Pattern Generator (CPG) inspired locomotion control, it is difficult to set appropriate weight values of oscillator network and initial values of each oscillator to generate the desired pattern with specific amplitude, frequency and phase lag. In this paper, a novel method tuning the parameters of CPGs for hexapod gaits based on Genetic Algorithm (GA) is presented. And the CPG model discussed in this work is based on Van Der Pol (VDP) equation. The process of parameter-tuning has two stages:(i) searching parameter values of single VDP oscillator to generate periodic oscillation sign with specific amplitude and frequency. (ii)searching synaptic weight values of oscillator network and initial values of each oscillator to generate specific phase lag. Two experiments have been taken in MATLAB and the results show the feasibility of the presented method in searching appropriate parameters to generate different hexapod gaits. |
| Starting Page | 45 |
| Ending Page | 50 |
| File Size | 497096 |
| Page Count | 6 |
| File Format | |
| e-ISBN | 9781479983896 |
| DOI | 10.1109/ICIEA.2015.7334082 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-06-15 |
| Publisher Place | New Zealand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Oscillators Legged locomotion Mathematical model Genetic algorithms Tuning Sociology CPG Genetic Algorithm hexapod gait Van Der Pol synaptic weight |
| Content Type | Text |
| Resource Type | Article |
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