Paper Info
Title
Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control
Abstract
This paper concerns the problem of Central Pattern Generator (CPG) applying on large-scale quadruped robot control. We found that trajectories generated by the CPG model show sharp inflections points between steps, and this kind of inflections will have more negative effect on larger robot locomotion because of the scale-effect. We proposed a control architecture in which a Hopf oscillator is high-level controller while low-level is impedance controller. In this architecture, Hopf oscillator generates motion rhythm and motion patterns which can be executed smoothly by impedance controller. Finally, we apply the control method on a simulated quadruped robot to verify the effectiveness. The results show that the robot can achieve smooth and stable locomotion.
Year
DOI
Venue
2020
10.1109/ICARM49381.2020.9195345
2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)
Keywords
DocType
ISBN
impedance control,central pattern generator,large-scale quadruped robot control,CPG model,sharp inflections points,robot locomotion,scale-effect,control architecture,Hopf oscillator,high-level controller,impedance controller,motion rhythm,motion patterns,control method,simulated quadruped robot,gait transition method,CPG network
Conference
978-1-7281-6480-9
Citations 
PageRank 
References 
0
0.34
7
Authors
7
Name
Order
Citations
PageRank
Sai Gu100.34
Fei Meng211314.50
Botao Liu300.34
Zewen He400.34
Xuxiao Fan512.73
Aiguo Ming617741.26
Qiang Huang726691.95