Abstract
This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics, the end trajectory of one leg can be conversed to the joint trajectories for controlling the robot movement. The simulation experiment proves the correctness and validity of the proposed model, and successfully makes the hexapod robot walk steadily.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: 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.