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Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm

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Abstract

This paper focuses on the topic of smooth gait transition of a hexapod robot by a proposed central pattern generator (CPG) algorithm. Through analyzing the movement characteristics of the real insects, it is easy to generate kinds of gait patterns and achieve their smooth transition if we employ a series of oscillations with adjustable phase lag. Based on this concept, a CPG model is proposed, which is constructed by an isochronous oscillators and several first-order low-pass filters. As an application, a hexapod robot and its locomotion control are introduced by converting the CPG signal to robot’s joint space. Simulation and real world experiment are completed to demonstrate the validity of the proposed CPG model. Through measuring the position of the body center and the distance between footpoints and ground, the smooth gait transition can be achieved so that the effectiveness of the proposed method is verified.

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Authors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191, China

    Weihai Chen, Guanjiao Ren & Jianhua Wang

  2. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, 100191, China

    Jianbin Zhang

Authors
  1. Weihai Chen
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  2. Guanjiao Ren
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  3. Jianbin Zhang
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  4. Jianhua Wang
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Corresponding author

Correspondence to Guanjiao Ren.

Additional information

This work is supported by National Natural Science Foundation of China (NSFC) under the research project 61175108 and National 863 Program of China under the research project 2011AA040902. This work is also supported by the Innovation Foundation of BUAA for PhD Graduates.

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Chen, W., Ren, G., Zhang, J. et al. Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm. J Intell Robot Syst 67, 255–270 (2012). https://doi.org/10.1007/s10846-012-9661-1

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  • DOI: https://doi.org/10.1007/s10846-012-9661-1

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