Abstract
This paper deals with the reactive behavior generation for hexapod walking inspired by insects’ robust and dexterous performance in complex environment. The single-leg controller including a coupled CPG network and linear coefficient converter is developed to yield stable and rhythmic signals for joint movement, the limit cycle behavior of which is systematically investigated with the Multi-variable Harmonic Balance (MHB) analysis. With these results, two typical local reflexes are further established. Based on the structure of the proposed single-leg controller, the elevator reflex is fulfilled via orbit attraction of limit cycles while the searching reflex is realized via limit cycle shift. The effectiveness of the proposed algorithm is confirmed through walking simulations.
Supported in part by the National Natural Science Foundation of China under Grant 51605115, Self-planned Task (No. SKLRS201719A) of State Key Laboratory of Robotics and Systems (HIT), Heilongjiang Postdoctoral Financial Assistance (LBH-Z16083) and Natural Science Foundation of Heilongjiang Province under Grant QC2017052.
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Li, J., Yu, H., Gao, H., Zhang, L., Deng, Z. (2018). Enhancing Adaptability of a Legged Walking Robot with Limit-Cycle Based Local Reflex Behavior. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_25
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DOI: https://doi.org/10.1007/978-3-319-97589-4_25
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