Design of quadruped robot based CPG and fuzzy neural network

被引：6
|
作者：
Sun, Lei [1 ]
Meng, Max Q. -H. [1 ]
Chen, Wanming [1 ]
Liang, Huawei [1 ]
Mei, Tao [1 ]
机构：
[1] Chinese Acad Sci, Inst Intelligent Machines, Ctr Biomimet Sensing & Control Res, Hefei 230031, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2007年
关键词：
quadruped robot; central pattern generator (CPG); FNN;
D O I：
10.1109/ICAL.2007.4338980
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper proposed a method for a quadruped robot control system based Central Pattern Generator (CPG) and fuzzy neural networks (FNN). The common approach for the control of a quadruped robot includes two methods mainly. One is the CPG that is based the bionics, the other is the dynamic control that is based the model of quadruped robot. The control result of CPG is decided by the gait data of the quadruped and the parameters of the CPG are choosing manually. Modeling a quadruped robot is difficult because it is a high nonlinear system. This paper presents a much simpler method for the control of a quadruped robot. A simple CPG is adopted for a timing oscillator; it generates the motion periodic pattern of legs. The FNN is used to control the joint motion in order to get a desired stable trajectory motion.
引用
收藏
页码：2403 / 2408
页数：6
相关论文
共 50 条
  • [1] Design of quadruped robot based neural network
    Sun, Lei
    Meng, Max Q. -H.
    Chen, Wanming
    Liang, Huawei
    Mei, Tao
    [J]. ADVANCES IN NEURAL NETWORKS - ISNN 2007, PT 1, PROCEEDINGS, 2007, 4491 : 843 - +
  • [2] Smooth Gait Transition Based on CPG Network for A Quadruped Robot
    Shang, Linlin
    Li, Zhaosheng
    Wang, Wei
    Yi, Jianqiang
    [J]. 2019 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2019, : 358 - 363
  • [3] Driving System Design for the Quadruped Robot Based on CPG Algorithm
    Jiang, Juan-Na
    Wang, Chao-Hui
    Liu, Fei
    Yao, Hong
    [J]. 2015 INTERNATIONAL CONFERENCE ON MECHANICAL SCIENCE AND MECHANICAL DESIGN, MSMD 2015, 2015, : 637 - 642
  • [4] Hardware neural network models of CPG and PWM for controlling servomotor system in quadruped robot
    Abe M.
    Iwama K.
    Takato M.
    Saito K.
    Uchikoba F.
    [J]. Artificial Life and Robotics, 2017, 22 (3) : 391 - 397
  • [5] Trot Gait Design and CPG Method for a Quadruped Robot
    Jiaqi Zhang
    Feng Gao
    Xiaolei Han
    Xianbao Chen
    Xueying Han
    [J]. Journal of Bionic Engineering, 2014, 11 : 18 - 25
  • [6] Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control
    Gu, Sai
    Meng, Fei
    Liu, Botao
    He, Zewen
    Fan, Xuxiao
    Ming, Aiguo
    Huang, Qiang
    [J]. 2020 5TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2020), 2020, : 387 - 391
  • [7] Trot Gait Design and CPG Method for a Quadruped Robot
    Zhang, Jiaqi
    Gao, Feng
    Han, Xiaolei
    Chen, Xianbao
    Han, Xueying
    [J]. JOURNAL OF BIONIC ENGINEERING, 2014, 11 (01) : 18 - 25
  • [8] Design of the Fuzzy Controller based on Oscillator Networks for a Quadruped Robot
    Li, Xun
    Wang, Wei
    Li, Bin
    Wang, Yanjun
    Yang, Yiping
    [J]. PROCEEDINGS OF THE 2009 CHINESE CONFERENCE ON PATTERN RECOGNITION AND THE FIRST CJK JOINT WORKSHOP ON PATTERN RECOGNITION, VOLS 1 AND 2, 2009, : 695 - 699
  • [9] CPG-Based Gait Transition of a Quadruped Robot
    Asadi, Farhad
    Khorram, Mahdi
    Moosavian, S. Ali A.
    [J]. 2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 210 - 215
  • [10] Parallel Spine Design and CPG Motion Test of Quadruped Robot
    Wang, Binrui
    Liu, Yixuan
    Li, Zhongwen
    Chen, Dijian
    Ma, Ruizi
    Wang, Ling
    [J]. INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE, 2020, 34 (05)
12345