Smooth Gait Transition Research Articles

Workspace trajectory generation with smooth gait transition using CPG-based locomotion control for hexapod robot

—This paper presents a new control methodology for achieving smooth gait transitions for a hexapod robot using Central Pattern Generators (CPGs). The approach involves modifying the Phase Oscillator within the CPG network to enable smooth transitions between different gaits in order to improve the adaptability to changing environmental conditions. The foot trajectory generator is designed based on the CPG output, allowing the possibility of online adjustment of foot trajectory parameters, such as step height and size, as well as the robot's speed and direction. Our simulation demonstrates the effectiveness of the modified oscillator in achieving smoother gait transitions with a transition time falls close to the output period of the CPG oscillators, and experiments on a real hexapod robot validate the feasibility and efficiency of our approach in considering online adjustability of trajectory parameters, confirming the potential of this methodology to enhance the locomotion capabilities of legged robots for navigating complex terrains.

Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators

Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators

Neural coupled central pattern generator based smooth gait transition of a biomimetic hexapod robot

In this paper, a novel Central Pattern Generator (CPG) network topology based locomotion control strategy for a smooth gait transition of a biomimetic hexapod robot is proposed. Some preliminaries and correlations have been discussed to provide more suitable CPG network topology for both gait patterns that adapt to different environments, both in terms of transient state time and amplitude overshoot. The design network structure is developed with bidirectional diffusive coupling topologies to obtain robustness and efficient gait transitions. The stability of the proposed network is proved using coupling analyses. In contrast to conventional methods in the CPG network, the proposed method provides remarkable results that could generate four typical hexapod gaits transitions under rapid transient-state and steady-state conditions depending on the frequency, amplitude, and phase relationships among neurons. In order to govern the swing and stance phases according to the proposed network, the leg trajectory generator is designed and an inverse kinematics module is added to compute the link angles of the legs. By applying the proposed locomotion control strategy, the hexapod robot is capable of performing stable and rapid walking gaits. The simulation and experimental results show the effectiveness of the proposed method. High motion ability with the proposed network topology is provided considering walking frequency, forward speed, gait transition time, transient-state time, and steady-state comparisons with the literature.

CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition.

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.

Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm

This paper focuses on the topic of smooth gait transition of a hexapod robot by a proposed central pattern generator (CPG) algorithm. Through analyzing the movement characteristics of the real insects, it is easy to generate kinds of gait patterns and achieve their smooth transition if we employ a series of oscillations with adjustable phase lag. Based on this concept, a CPG model is proposed, which is constructed by an isochronous oscillators and several first-order low-pass filters. As an application, a hexapod robot and its locomotion control are introduced by converting the CPG signal to robot’s joint space. Simulation and real world experiment are completed to demonstrate the validity of the proposed CPG model. Through measuring the position of the body center and the distance between footpoints and ground, the smooth gait transition can be achieved so that the effectiveness of the proposed method is verified.