NDLI: An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback

Content Provider	Springer Nature Link
Author	Chen, WeiHai Ren, GuanJiao Wang, JianHua Liu, Dong
Copyright Year	2014
Abstract	Insects can perform versatile locomotion behaviors such as multiple gaits, adapting to different terrains, fast escaping, etc. However, most of the existing bio-inspired legged robots do not possess such walking ability, especially when they walk on irregular terrains. To tackle this challenge, a central pattern generator (CPG)-based locomotion control methodology is proposed, integrated with a contact force feedback function. In this approach, multiple gaits are produced by the CPG module. After passing through a post-processing circuit and a delay-line, the control signal is fed into six trajectory generators to generate predefined feet trajectories for the six legs. Then, force feedback is employed to adjust these trajectories so as to adapt the robot to rough terrains. Finally the regulated trajectories are sent to inverse kinematics modules such that the position control instructions are generated to control the actuators. In both simulations and real robot experiments, we consistently show that the robot can perform sophisticated walking patterns. What is more, the robot can use the force feedback mechanism to deal with the irregularity in rough terrain. With this mechanism, the stability and adaptability of the robot are enhanced. In conclusion, the CPG-base control is an effective approach for legged robots and the force feedback approach is able to improve walking ability of the robots, especially when they walk on irregular terrains.
Starting Page	1
Ending Page	18
Page Count	18
File Format	PDF
ISSN	1674733X
Journal	Science in China Series : Information Sciences
Volume Number	57
Issue Number	11
e-ISSN	18691919
Language	English
Publisher	Science China Press
Publisher Date	2014-10-08
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	hexapod robot locomotion control central pattern generator (CPG) kinematics force feedback Information Systems and Communication Service
Content Type	Text
Resource Type	Article
Subject	Computer Science

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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