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Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics.

机译：基于中心模式发生器的四足机器人全方位运动。

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Trajectory generation for quadruped robots is a challenging task since they are underactuated systems which must balance using sensory feedback and satisfy ground contact constraints. There is a substantial body of evidence that many animals use central pattern generators (CPGs) for generating joint trajectories and regulation through sensory feedback. However, CPG models formulated in the joint space do not explicitly formulate or account for ground contact constraints especially during turning which can introduce foot slip in the gait. Task-based CPGs offer several advantages in that they can explicitly satisfy ground contact constraints, and we suggest an approach to generating foot velocity controls in the body frame to enable omnidirectional locomotion.

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作者
Kuhlman, M. J.; Hays, J.; Sofge, D.; Gupta, S. K.;
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年度 2014
页码 1-7
总页数 7
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Locomotion; Omnidirectional; Robots; Artificial intelligence; Behavior; Computerized simulation; Control; Experimental design; Feedback; Information processing; Kinematics; Mathematical filters; Mechanical engineering; Multisensors; Navigation; Neural nets; Oscillation; Paths; Pattern recognition; Planning; Reaction time; Target detection; Terrain; Trajectories; Uncertainty; Legged robots; Allegro dog robot; Free paths; Sensing capabilities; Cpgs(central pattern generators);

机译：运动;全向;机器人;人工智能;行为;计算机模拟;控制;实验设计;反馈;信息处理;运动学;数学滤波器;机械工程;多传感器;导航;神经网络;振荡;路径;模式识别;规划;反应时间;目标探测;地形;轨迹;不确定性;腿式机器人;快板狗机器人;自由路径;感知能力; Cpgs（中央模式发生器）;

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专利

1. Hard-wired Central Pattern Generator Hardware Network for Quadrupedal Locomotion Based on Neuron and Synapse Models [J] . Akihiro Maruyama, Tomoyasu Ichimura, Yoshinobu Maeda Advanced Biomedical Engineering . 2015,第79期

机译：基于神经元和突触模型的四足运动硬连线中央模式发生器硬件网络
2. FPGA-based Circuit for Central Pattern Generator in Quadruped Locomotion [J] . Jose Hugo Barron-Zambrano, Cesar Torres-Huitzil, Bernard Girau Australian journal of intelligent information processing systems . 2010,第2期

机译：四足运动的中央模式发生器的基于FPGA的电路
3. Oscillator driven central pattern generator (CPG) system for procedural animation of quadruped locomotion [J] . Bhatti Zeeshan Multimedia Tools and Applications . 2019,第21期

机译：振荡器驱动的中央模式发生器（CPG）系统，用于四足运动的程序动画
4. Locomotion control for quadruped robot based on Central Pattern Generators [C] . Mengyin Wang, Zhiyong Tang, Bin Chen, Chinese Control Conference . 2016

机译：基于中央模式发生器的四足机器人运动控制
5. Bio-inspired Optimal Locomotion Reconfigurability of Quadruped Rovers using Central Pattern Generators [D] . Bohra, Murtaza 2015

机译：使用中央模式发生器的四足漫游者生物启发的最佳运动可重构性
6. Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion [O] . Ru Kang, Fei Meng, Xuechao Chen, 2020

机译：高效载荷机置平面Quadruped机器人的结构设计与爬行图案发生器
7. Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion [O] . Ajallooeian, M., Pouya, S., Spröwitz, A., 2013

机译：中心模式发生器增加了虚拟模型控制四足粗糙地形运动

Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics.

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