Paper Info
Title
A new method in modeling Central Pattern Generators to control quadruped walking robots
Abstract
Aiming to real easy application in several quadruped robot platforms, this paper introduces a new method of modeling central pattern generators (CPG) to control quadruped locomotion. Not only can this new model generate all the primary gaits of quadrupeds stably with limit cycle effect, but it also has the ability of tuning the periodic outputs with arbitrary waveforms. The core idea is to combine strong points of two mathematical tools: Fourier series and Recurrent neural networks. In addition, a new biomimetic controller is also introduced using the proposed CPG model and several reflex modules. Finally, dynamic simulations are performed to validate the efficiency of the proposed controller.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354160
IROS
Keywords
Field
DocType
quadrupeds,proposed cpg model,cpg model,quadruped robot platforms,fourier series,neurocontrollers,dynamic simulations,reflex modules,waveform analysis,quadruped locomotion,recurrent neural networks,legged locomotion,new model,limit cycle effect,quadruped robot platform,proposed controller,recurrent neural nets,new biomimetic controller,recurrent neural network,arbitrary waveform,quadruped walking robots,periodic outputs,biomimetic controller,arbitrary waveforms,new method,central pattern generator,biomimetics,central pattern generators,dynamic simulation,limit cycle,force,leg
Control theory,Control theory,Computer science,Waveform,Biomimetics,Recurrent neural network,Control engineering,Limit cycle,Fourier series,Central pattern generator,Robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
5
0.44
References 
Authors
7
7
Name
Order
Citations
PageRank
Duc Trong Tran1243.02
Ig Moo Koo250.44
Vo-Gia Loc3344.44
Se-gon Roh417020.94
Sangdeok Park56915.52
Hyungpil Moon617538.32
Hyouk Ryeol Choi733760.51