TY - GEN
T1 - Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control
AU - Gu, Sai
AU - Meng, Fei
AU - Liu, Botao
AU - He, Zewen
AU - Fan, Xuxiao
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - This paper concerns the problem of Central Pattern Generator (CPG) applying on large-scale quadruped robot control. We found that trajectories generated by the CPG model show sharp inflections points between steps, and this kind of inflections will have more negative effect on larger robot locomotion because of the scale-effect. We proposed a control architecture in which a Hopf oscillator is high-level controller while low-level is impedance controller. In this architecture, Hopf oscillator generates motion rhythm and motion patterns which can be executed smoothly by impedance controller. Finally, we apply the control method on a simulated quadruped robot to verify the effectiveness. The results show that the robot can achieve smooth and stable locomotion.
AB - This paper concerns the problem of Central Pattern Generator (CPG) applying on large-scale quadruped robot control. We found that trajectories generated by the CPG model show sharp inflections points between steps, and this kind of inflections will have more negative effect on larger robot locomotion because of the scale-effect. We proposed a control architecture in which a Hopf oscillator is high-level controller while low-level is impedance controller. In this architecture, Hopf oscillator generates motion rhythm and motion patterns which can be executed smoothly by impedance controller. Finally, we apply the control method on a simulated quadruped robot to verify the effectiveness. The results show that the robot can achieve smooth and stable locomotion.
UR - http://www.scopus.com/inward/record.url?scp=85092632452&partnerID=8YFLogxK
U2 - 10.1109/ICARM49381.2020.9195345
DO - 10.1109/ICARM49381.2020.9195345
M3 - Conference contribution
AN - SCOPUS:85092632452
T3 - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 387
EP - 391
BT - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Y2 - 18 December 2020 through 21 December 2020
ER -
