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CPG-Based Gait Generator for a Quadruped Robot with Sidewalk and Turning Operationsстатья
- Авторы: Danilov Vladimir, Diane Sekou
- Сборник: Robotics in Natural Settings - Proceedings of the 25th International Conference on Climbing and Walking Robots, CLAWAR 2022
- Серия: Lecture Notes in Networks and Systems book series
- Том: 530
- Год издания: 2022
- Место издания: CLAWAR Association Ltd, UK UK Cham, Switzerland
- Первая страница: 276
- Последняя страница: 288
- DOI: 10.1007/978-3-031-15226-9_27
- Аннотация: This article describes the quadruped robot gait generator algorithm based on the central pattern generator (CPG). The proposed architecture uses CPG as a phase signal generator for each leg, and a mapping function that builds the desired trajectory for the robot feet. The algorithm is able to change the gait type smoothly in real time, and also do the same with movement direction, frequency, height and length of the stride. In order to test the performance of the algorithm, experiments were carried out both in the simulation and on the real robot. The results show the efficiency of the algorithm and its ease of implementation.
- Добавил в систему: Данилов Владимир Александрович