The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

Cheng Wang; Junyao Gao; Xingguang Duan; Yi Liu; Xin Li; Zhe Xu; Wentao Sun

doi:10.4028/www.scientific.net/AMR.677.296

The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

Cheng Wang^*, Junyao Gao, Xingguang Duan, Yi Liu, Xin Li, Zhe Xu, Wentao Sun

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Micro Nano Devices, Structure and Computing Systems II
Pages	296-303
Number of pages	8
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.677.296
Publication status	Published - 2013
Event	2013 2nd International Conference on Micro Nano Devices, Structure and Computing Systems, MNDSCS 2013 - Shenzhen, China Duration: 23 Jan 2013 → 24 Jan 2013

Publication series

Name	Advanced Materials Research
Volume	677
ISSN (Print)	1022-6680

Conference

Conference	2013 2nd International Conference on Micro Nano Devices, Structure and Computing Systems, MNDSCS 2013
Country/Territory	China
City	Shenzhen
Period	23/01/13 → 24/01/13

Keywords

CPG
Quadruped bionic robot
The repeated iterative learning
The walking gait

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10.4028/www.scientific.net/AMR.677.296

Cite this

@inproceedings{40f17782ad4d4edc81c2518030024cf4,

title = "The CPG gait generate method of the quadruped robot based on iterative learning control algorithm",

abstract = "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.",

keywords = "CPG, Quadruped bionic robot, The repeated iterative learning, The walking gait",

author = "Cheng Wang and Junyao Gao and Xingguang Duan and Yi Liu and Xin Li and Zhe Xu and Wentao Sun",

year = "2013",

doi = "10.4028/www.scientific.net/AMR.677.296",

language = "English",

isbn = "9783037856420",

series = "Advanced Materials Research",

pages = "296--303",

booktitle = "Micro Nano Devices, Structure and Computing Systems II",

note = "2013 2nd International Conference on Micro Nano Devices, Structure and Computing Systems, MNDSCS 2013 ; Conference date: 23-01-2013 Through 24-01-2013",

}

Wang, C, Gao, J , Duan, X, Liu, Y, Li, X, Xu, Z & Sun, W 2013, The CPG gait generate method of the quadruped robot based on iterative learning control algorithm. in Micro Nano Devices, Structure and Computing Systems II. Advanced Materials Research, vol. 677, pp. 296-303, 2013 2nd International Conference on Micro Nano Devices, Structure and Computing Systems, MNDSCS 2013, Shenzhen, China, 23/01/13. https://doi.org/10.4028/www.scientific.net/AMR.677.296

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

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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 -

The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

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Keywords

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