Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are i...

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Bibliographic Details
Published in:Electrical engineering in Japan 2006-04, Vol.155 (1), p.35-43
Main Authors: Son, Yurak, Kamano, Takuya, Yasuno, Takashi, Suzuki, Takayuki, Harada, Hironobu
Format: Article
Language:English
Subjects:
adaptive gait pattern
CPG network
genetic algorithm
quadruped robot
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Summary:This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20225
ISSN:0424-7760
1520-6416
DOI:10.1002/eej.20225