WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions-Reference-Cited by-同舟云学术

WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

Published:2011-01-01 Issue: Volume: Page:
ISSN:
Container-title:ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
language:
Short-container-title:

Author:

Barasuol Victor¹,De Negri Victor Juliano¹,De Pieri Edson Roberto¹

Affiliation:

1. Federal University of Santa Catarina, Floriano´polis, SC, Brazil

Abstract

In this paper it is proposed a central pattern generator (CPG) based on workspace intentions, where the parameters of modulation have physical meaning and the walking can be adapted to overcome irregular terrains by changing few parameters. The walking features are independently modulated since there is no coupling relationship among WCPG parameters. Simulation results are presented to demonstrate the WCPG performance for a simplified quadruped robot model in different terrains.

Publisher

ASMEDC

Link

http://asmedigitalcollection.asme.org/DSCC/proceedings-pdf/doi/10.1115/DSCC2011-6164/2766809/111_1.pdf

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Omnidirectional Motion Control Method of Quadruped Robot Based on 3D-CPG Oscillator Group;Robotics in Natural Settings;2022-08-25

2. Crawling Trajectory Generation of Humanoid Robot Based on CPG and Control;Intelligent Robotics and Applications;2022

3. Is Active Impedance the Key to a Breakthrough for Legged Robots?;Springer Tracts in Advanced Robotics;2016

4. Towards versatile legged robots through active impedance control;The International Journal of Robotics Research;2015-05-18