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Gait Planning and Stability Control of a Quadruped Robot
Joint Authors
Yang, Simon X.
Li, Junmin
Wang, Jinge
Zhou, Kedong
Tang, Huijuan
Source
Computational Intelligence and Neuroscience
Issue
Vol. 2016, Issue 2016 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-10
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper.
To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper.
The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory.
To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP.
Experiment results show that the quadruped robot’s gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm.
Meanwhile, the stability of robot’s movement is improved greatly with the CPG-ZMP algorithm.
The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.
American Psychological Association (APA)
Li, Junmin& Wang, Jinge& Yang, Simon X.& Zhou, Kedong& Tang, Huijuan. 2016. Gait Planning and Stability Control of a Quadruped Robot. Computational Intelligence and Neuroscience،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1099832
Modern Language Association (MLA)
Li, Junmin…[et al.]. Gait Planning and Stability Control of a Quadruped Robot. Computational Intelligence and Neuroscience Vol. 2016, no. 2016 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1099832
American Medical Association (AMA)
Li, Junmin& Wang, Jinge& Yang, Simon X.& Zhou, Kedong& Tang, Huijuan. Gait Planning and Stability Control of a Quadruped Robot. Computational Intelligence and Neuroscience. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1099832
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1099832