Central Pattern Generators augmented with virtual model control for quadruped rough terrain locomotion

M. Ajallooeian, Soha Pouya, Alexander Spröwitz, A. Ijspeert
{"title":"Central Pattern Generators augmented with virtual model control for quadruped rough terrain locomotion","authors":"M. Ajallooeian, Soha Pouya, Alexander Spröwitz, A. Ijspeert","doi":"10.1109/ICRA.2013.6631040","DOIUrl":null,"url":null,"abstract":"We present a modular controller for quadruped locomotion over unperceived rough terrain. Our approach is based on a computational Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators. Stumbling correction reflex is implemented as a sensory feedback mechanism affecting the CPG. We augment the outputs of the CPG with virtual model control torques responsible for posture control. The control strategy is validated on a 3D forward dynamics simulated quadruped robot platform of about the size and weight of a cat. To demonstrate the capabilities of the proposed approach, we perform locomotion over unperceived uneven terrain and slopes, as well as situations facing external pushes.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"64","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2013.6631040","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 64

Abstract

We present a modular controller for quadruped locomotion over unperceived rough terrain. Our approach is based on a computational Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators. Stumbling correction reflex is implemented as a sensory feedback mechanism affecting the CPG. We augment the outputs of the CPG with virtual model control torques responsible for posture control. The control strategy is validated on a 3D forward dynamics simulated quadruped robot platform of about the size and weight of a cat. To demonstrate the capabilities of the proposed approach, we perform locomotion over unperceived uneven terrain and slopes, as well as situations facing external pushes.
基于虚拟模型控制的四足崎岖地形运动中央模式生成器
我们提出了一个模块化的四足运动控制器在不可感知的崎岖地形。我们的方法是基于计算中心模式发生器(CPG)模型实现的耦合非线性振荡器。绊脚石矫正反射是一种影响CPG的感觉反馈机制。我们用虚拟模型控制转矩来增加CPG的输出,用于姿态控制。该控制策略在一个大小和重量与猫相当的四足机器人三维正动力学模拟平台上进行了验证。为了证明所提出的方法的能力,我们在未被感知的不平坦地形和斜坡以及面临外部推力的情况下进行了运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信