@inproceedings{ad9c2e3e231c47eea810569c5e4b698a,
title = "CPG-Inspired Gait Generation and Transition Control for Six Wheel-legged Robot",
abstract = "Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristics of clear parameter meaning and easy adjustment. In this paper, a method of gait planning and dynamic gait switching based on Hopf oscillator model is introduced. Firstly, the model and three gait modes of the robot are introduced. Secondly, an improved Hopf oscillator based on CPG is designed, and the signal generated by the oscillator is used to control the robot's legs. Finally, the simulation results of the three basic walking gaits and gait switching verify the feasibility and effectiveness of the algorithm.",
keywords = "CPG, Gait transition, Hexapod robot, Hopf oscillator model, Motion control",
author = "Chencheng Deng and Shoukun Wang and Zhihua Chen and Junzheng Wang and Liling Ma and Jiehao Li",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE; 2021 China Automation Congress, CAC 2021 ; Conference date: 22-10-2021 Through 24-10-2021",
year = "2021",
doi = "10.1109/CAC53003.2021.9727252",
language = "English",
series = "Proceeding - 2021 China Automation Congress, CAC 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2310--2315",
booktitle = "Proceeding - 2021 China Automation Congress, CAC 2021",
address = "United States",
}