TY - GEN
T1 - The CPG gait generate method of the quadruped robot based on iterative learning control algorithm
AU - Wang, Cheng
AU - Gao, Junyao
AU - Duan, Xingguang
AU - Liu, Yi
AU - Li, Xin
AU - Xu, Zhe
AU - Sun, Wentao
PY - 2013
Y1 - 2013
N2 - Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.
AB - Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.
KW - CPG
KW - Quadruped bionic robot
KW - The repeated iterative learning
KW - The walking gait
UR - http://www.scopus.com/inward/record.url?scp=84875972558&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.677.296
DO - 10.4028/www.scientific.net/AMR.677.296
M3 - Conference contribution
AN - SCOPUS:84875972558
SN - 9783037856420
T3 - Advanced Materials Research
SP - 296
EP - 303
BT - Micro Nano Devices, Structure and Computing Systems II
T2 - 2013 2nd International Conference on Micro Nano Devices, Structure and Computing Systems, MNDSCS 2013
Y2 - 23 January 2013 through 24 January 2013
ER -