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
收藏
页码：371 / 375
页数：5
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