ICRA 2011 Paper Abstract

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Paper TuP102.5

Liu, Chengju (Tongji University), Chen, Qijun (Tongji University), Wang, Danwei (Tongji University)

Locomotion Control of Quadruped Robots Based on CPG-Inspired Workspace Trajectory Generation

Scheduled for presentation during the Regular Sessions "Multi-legged Robots" (TuP102), Tuesday, May 10, 2011, 14:40−14:55, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biomimetics, Biologically-Inspired Robots, Multi-legged Robots

Abstract

This paper presents a locomotion control strategy for quadruped robots based on central pattern generator (CPG). The proposed control architecture consists of a workspace trajectory generator and a motion engine. The CPG-inspired trajectory generator can generate workspace trajectories and the motion engine can calculate the accurate joint control signals. Moreover, entrainment with sensory feedback information from robot-environment interaction, the presented control system can generate adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed control architecture and experimental results confirm the effectiveness of the control system.

 

 

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