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Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
| Content Provider | MDPI |
|---|---|
| Author | Han, Qing Cao, Feixiang Yi, Peng Li, Tiancheng |
| Copyright Year | 2021 |
| Description | To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented. |
| Starting Page | 6045 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s21186045 |
| Journal | Sensors |
| Issue Number | 18 |
| Volume Number | 21 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2021-09-09 |
| Access Restriction | Open |
| Subject Keyword | Sensors Gecko-like Robot Central Pattern Generator Motion Control Collision Avoidance |
| Content Type | Text |
| Resource Type | Article |
