Locomotion Control of a Hexapod Robot with Tripod Gait Using Central Pattern Generator Network

Abstract

This paper presents locomotion control of a hexapod robot with tripod gait using central pattern generator (CPG) network. To do this task, the followings are done. First, kinematic modeling of one leg with four links and four rotational joints of hexapod robot is proposed using Denavit-Hartenberg (DH) convention. Second, the walking gait of hexapod robot is generated by central pattern generator network. Third, mapping functions are proposed to map the output of CPG network into a desired trajectory of the end effector of the hexapod robot. It is difficult and complex to get the angles of four rotational joints of one leg using inverse kinematics. To solve this problem, differential kinematics algorithm is used to realize the end effector following the trajectory obtained by the mapping functions for six legs. Finally, simulation results for walking motion of the hexapod robot are shown to prove the effectiveness and applicability of the proposed controller.