Locomotion control of quadruped robot based on central pattern generators

被引：1
|
作者：
Chen Q. [1 ]
Wang G. [1 ]
Liu C. [1 ]
机构：
[1] College of Electronics and Information Engineering, Tongji University
来源：
Tongji Daxue Xuebao/Journal of Tongji University | 2010年 / 38卷 / 10期
关键词：
Central pattern generator (CPG); Kimura neuron oscillator; Locomotion control; Multi-object genetic algorithm (MOGA);
D O I：
10.3969/j.issn.0253-374x.2010.10.025
中图分类号：
学科分类号：
摘要：
Central pattern generator (CPG) plays an important role in rhythmic motion of animals and is available for biological motion control studies of robots. In this paper, by using Kimura neuron oscillators, a distributed CPG control network is constructed to realize the locomotion control of quadruped robot AIBO. The parameters of the network are adjusted by multi-object genetic algorithm (MOGA) and an animal-like walking gait of AIBO can be realized. Both simulations in Webots and experiments on real AIBO validate the feasibility and efficiency of the constructed CPG control network.
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页码：1534 / 1539
页数：5
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