Abstract
This paper describes the generation of adaptive gait patterns for a quadruped robot using central pattern generators (CPGs). A new CPG model, in which the dynamics of a joint servomotor is incorporated, is proposed and used to generate the periodical oscillation of the joint angle. The CPGs are mutually connected with each other through coupling parameters. The sets of coupling parameters are adjusted by a genetic algorithm (GA) so that the quadruped robot can realize stable and suitable gait patterns by interacting adaptively with the environment. Some experimental results obtained using a quadruped robot demonstrate that the proposed CPG network is effective in generating suitable gait patterns.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
