Abstract
This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stable gait transitions smoothly and continuously. MATLAB and ADAMS simulations and corresponding practical experiments are conducted. The results show that the proposed method can achieve smooth and continuous mutual gait transitions, which proves the effectiveness of the proposed CPG-based hexapod robot control.
Highlights
Compared with wheeled robots, legged robots have a stronger ability to adapt to different kinds of rough terrain and obstacles
Most of the hexapod robots are inspired by the stick insects which have six limbs consisting of coxa, femur and tibia, and each limb has three rotating joints connecting the body and the coxa, the coxa and the femur, and the femur and tibia [8]
Compared with multi-jointed limbs, network as well as the realization of smooth gait transitions; Section shows the simulation and the hexapod robots with curved-legs need to void the unstable supporting situation based on experiments and Section 5 concludes the paper
Summary
Compared with wheeled robots, legged robots have a stronger ability to adapt to different kinds of rough terrain and obstacles. Several kinds of identified gaits and continuous generalized gait are yielded through changing the topology and strengths of the connections coupling the oscillators [38,39,40] This method has achieved good results in hexapod robots with multi-jointed limbs. The the rest gait of this paper is organized as follows: Section 2of introduces the analysis of the locomotion (3) During transitions, the simplified structure the curved-leg make it difficult to keep and the supporting stabilityby of our hexapod robot; Section presents the design of the proposed CPG the supporting stability adjusting the robotic posture. Compared with multi-jointed limbs, network as well as the realization of smooth gait transitions; Section shows the simulation and the hexapod robots with curved-legs need to void the unstable supporting situation based on experiments and Section 5 concludes the paper. 1a, each curved leg of the hexapod robot is actuated viaquadruped an electric motor, andthe arewave
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