Inspired by the neuronal principles underlying the tetrapod locomotion,this paper proposed a biomimetic vestibular reflex central pattern generator（ CPG） model to improve motion performance and terrain adaptive abil...Inspired by the neuronal principles underlying the tetrapod locomotion,this paper proposed a biomimetic vestibular reflex central pattern generator（ CPG） model to improve motion performance and terrain adaptive ability of a quadruped robot in complex situations,which is on the basis of central pattern generator（ CPG） model constructed by modified Hopf oscillators. The presented reflex model was modified in the light of the particular joint configuration of the quadruped robot and the trot gait pattern. Focusing on slop locomotion of the quadruped robot with trot gaits,the cosimulations of the ADAMS virtual prototype,CPG mathematical expressions with vestibular reflex and Simulink control model were conducted. The simulation results demonstrated that the presented CPG controller with vestibular reflex was more efficient and stable for the quadruped robot trotting on slopes,c ompared with the different trotting control models.展开更多
To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which m...To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/ Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘Inspired by the neuronal principles underlying the tetrapod locomotion,this paper proposed a biomimetic vestibular reflex central pattern generator（ CPG） model to improve motion performance and terrain adaptive ability of a quadruped robot in complex situations,which is on the basis of central pattern generator（ CPG） model constructed by modified Hopf oscillators. The presented reflex model was modified in the light of the particular joint configuration of the quadruped robot and the trot gait pattern. Focusing on slop locomotion of the quadruped robot with trot gaits,the cosimulations of the ADAMS virtual prototype,CPG mathematical expressions with vestibular reflex and Simulink control model were conducted. The simulation results demonstrated that the presented CPG controller with vestibular reflex was more efficient and stable for the quadruped robot trotting on slopes,c ompared with the different trotting control models.
基金Supported by the Ministerial Level Advanced Research Foundation(65822576)
文摘To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator （CPG） was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/ Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.
