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Locomotion control of quadruped robots based on CPG-inspired workspace trajectory generation | IEEE Conference Publication | IEEE Xplore

Locomotion control of quadruped robots based on CPG-inspired workspace trajectory generation


Abstract:

This paper presents a locomotion control strategy for quadruped robots based on central pattern generator (CPG). The proposed control architecture consists of a workspace...Show More

Abstract:

This paper presents a locomotion control strategy for quadruped robots based on central pattern generator (CPG). The proposed control architecture consists of a workspace trajectory generator and a motion engine. The CPG-inspired trajectory generator can generate workspace trajectories and the motion engine can calculate the accurate joint control signals. Moreover, entrainment with sensory feedback information from robot-environment interaction, the presented control system can generate adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed control architecture and experimental results confirm the effectiveness of the control system.
Date of Conference: 09-13 May 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: Shanghai, China

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