Paper Info
Title
Gait Planning and Stability Control of a Quadruped Robot.
Abstract
In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.
Year
DOI
Venue
2016
10.1155/2016/9853070
Comp. Int. and Neurosc.
Field
DocType
Volume
Control algorithm,Control theory,Gait,Computer science,Electronic stability control,Artificial intelligence,Robot,Gait planning,Machine learning,Robotics,Order control
Journal
2016
Issue
ISSN
Citations 
Issue-in-Progress
1687-5265
3
PageRank 
References 
Authors
0.55
12
5
Name
Order
Citations
PageRank
Junmin Li130.55
Jin-Ge Wang2163.66
Simon X. Yang31029124.34
Zhou Kedong430.55
Tang Huijuan530.55