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| Content Provider | Springer Nature Link |
|---|---|
| Author | Liu, Chengju Chen, Qijun Wang, Guoxing |
| Copyright Year | 2013 |
| Abstract | This paper presents a central pattern generator (CPG) and vestibular reflex combined control strategy for a quadruped robot. An oscillator network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. A two-phase parameter tuning method is designed to adjust the parameters of oscillator network. First, based on the numerical simulation, the influences of the parameters on the output signals are analyzed, then the genetic algorithm (GA) is used to evolve the phase relationships of the oscillators to realize the basic animal-like walking pattern. Moreover, the animal’s vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on a slope terrain. Coupled with the sensory feedback information, the robot can walk up and down the slope smoothly. The presented bio-inspired control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG and vestibular reflex combined control method, AIBO can cope with slipping, falling down and walk on a slope successfully, which demonstrates the effectiveness of the proposed walking control method. |
| Starting Page | 386 |
| Ending Page | 392 |
| Page Count | 7 |
| File Format | |
| ISSN | 16726340 |
| Journal | Journal of Control Theory and Applications |
| Volume Number | 11 |
| Issue Number | 3 |
| e-ISSN | 19930623 |
| Language | English |
| Publisher | Springer Berlin Heidelberg |
| Publisher Date | 2013-07-04 |
| Publisher Place | Berlin, Heidelberg |
| Access Restriction | Subscribed |
| Subject Keyword | CPG Walking control Quadruped robot Vestibular reflex Control Systems Theory, Control Optimization Computational Intelligence Complexity Control, Robotics, Mechatronics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Computer Science Applications Hardware and Architecture |
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