Abstract
In this paper, we propose a CPG (central pattern generator) network control system using motor dynamics for the gait planning of a quadruped robot with a trot walking pattern to climb up and down a slope and turn back and follow the symmetry of route. The CPG unit model, which includes two DC motors model, has the ability to generate the periodic joint angle with complex-value parameters. Through plural feedback parameters, the CPG network can adjust the frequency and amplitude of an internal neuron model such as a robot meeting an irregular surface of a road. Using the stride length and frequency of robot joint angles, the distance of walking with a trot pattern can be calculated. In order to confirm the validity of the proposed control system, a quadruped robot is produced to implement the adaptive walking system.
Highlights
The development of a quadruped robot has potential technology applications from the military field to the rescue field
The most important characteristic of a quadruped robot is gait planning for an irregular road [3]
We propose an adaptive walking control system for a quadruped robot to climb up and down a slope, as well as turn back and follow the original route with a tort pattern walking, using central pattern generator (CPG) networks based on complex-valued parameters
Summary
The development of a quadruped robot has potential technology applications from the military field to the rescue field. Because the CPG unit model is calculated by a high-order differential equation to output period signals, it is not easy to solve the parameters’ value to generate adaptive signals [20] Another important aspect is that the quadruped robot is almost controlled by a crawl walking pattern for walking on the flat surface with high weight. The calculation of the distance is lacking in the current research, because the CPG period signal cannot control the motor directly It is necessary for the quadruped robot to turn its body to come back and follow the original route [21]. We propose an adaptive walking control system for a quadruped robot to climb up and down a slope, as well as turn back and follow the original route with a tort pattern walking, using CPG networks based on complex-valued parameters. In order to ensure the validity of the proposed control system, simulation experiments using the mathematical model of the quadruped robot are conducted on the upslope and floor ground
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
