The Control of a Multi-legged Robot Based on Hopf Oscillator

被引：0

作者：

Chen, Long ^{[1
]}

Zhong, Guoliang ^{[1
]}

Hou, Yangdong ^{[1
]}

Zhuo, Wendi ^{[1
]}

Nie, Wen ^{[1
]}

机构：

[1] Cent S Univ, Sch Mech & Elect Engn, State Key Lab High Performance Complex Mfg, Changsha 410000, Hunan, Peoples R China

来源：

2017 IEEE 3RD INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC) | 2017年

基金：

中国国家自然科学基金;

关键词：

Hexapod robot; Central pattern generator; Neuron oscillator; Motion control; MOTION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics, the end trajectory of one leg can be conversed to the joint trajectories for controlling the robot movement. The simulation experiment proves the correctness and validity of the proposed model, and successfully makes the hexapod robot walk steadily.

引用

页码：371 / 375

页数：5

共 50 条

[21] Analysis on underwater gait of amphibious multi-legged robot
Underwater Operation Technology and Equipment Laboratory, Harbin Engineering University, Harbin 150001, China
Jiqiren, 2008, 4 (333-339): : 333 - 339
[22] Modules design of a reconfigurable multi-legged walking robot
Sun, Yi
Chen, Xuedong
Yan, Tianhong
Jia, Wenchuan
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1444 - +
[23] Gait Generation for the Multi-legged Robot with Injured Legs
Zeng, Ming
Wang, Zhijing
Ma, Yu
Liu, Jiazhe
Zhang, Baofeng
Nie, Yunke
2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 3668 - 3673
[24] Simulation kinematics model of a multi-legged mobile robot
AlZaydi, MY
Amin, SHM
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 1997, : 89 - 94
[25] Multi-legged robot system for deep space exploration
Kubota, T
Katoh, H
Toyokawa, T
Nakatani, I
ROBOTICS: TRENDS, PRINCIPLES AND APPLICATIONS, VOL 15, 2004, 15 : 203 - 208
[26] Jumping rhythm generator by CPG for a multi-legged robot
Ikeda, Masaaki
Izumi, Kiyotaka
Watanabe, Keigo
PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11), 2011, : 395 - 398
[27] Rotational Operation of Polygonal Prism by Multi-Legged Robot
Takeo, Gaku
Takubo, Tomohito
Ohara, Kenichi
Mae, Yasushi
Arai, Tatsuo
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 2677 - 2682
[28] Control System Design Based on CANopen Network for Multi-legged Robot with Hand-fused Foot
Zhang, Yuxiao
Zeng, Xianqun
Wang, Xinjie
HISTORY OF MECHANICAL TECHNOLOGY AND MECHANICAL DESIGN, 2011, 42 : 307 - 312
[29] Vision-based Autonomous Motion Control Method for Closed-chain Multi-legged Robot
Du, Guofeng
Zhao, Meng
Wu, Jianxu
Zhang, Dong
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2024, 60 (19): : 62 - 70
[30] Transmission mode research on the joints of a multi-legged walking robot
Gao, Haibo
Zhuang, Hongchao
Deng, Zongquan
Ding, Liang
Liu, Zhen
NEW TRENDS IN MECHATRONICS AND MATERIALS ENGINEERING, 2012, 151 : 518 - 522

← 1 2 3 4 5 →