System Development & Application
|
2749-2753

CPG-based motion gait control method of hexapod robot

Lin Zhiwei
Lin Hanwen
Liu Zongpeng
School of Automation, Beijing Institute of Technology, Beijing 100081, China

Abstract

The CPG plays a vital role in the motion gait control of the hexapod robot. In order to study the motion control method of hexapod robot, this paper firstly designed the mechanical structure of hexapod robot based on the principle of bionics, and built its three-dimensional model in virtual prototype software ADAMS. Secondly, this paper selected the Hopf oscillator as CPG unit and improved it. Then, it designed CPG network topology of the hexapod robot, including schemes of the one-leg joint mapping function and the CPG ring-coupling network between the legs, and made improvement. Finally, this paper verified the motion stability of the designed hexapod robot and the feasibility and effectiveness of the CPG control scheme by ADAMS and MATLAB co-simulation experiments. The simulation results show that the method can meet the control requirements of different gait of the hexapod robot, and there is some value in practical applications for the motion control of the hexapod robot.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.05.0140
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 9
Section: System Development & Application
Pages: 2749-2753
Serial Number: 1001-3695(2020)09-037-2749-05

Publish History

[2020-09-05] Printed Article

Cite This Article

林知微, 林翰文, 刘宗朋. 基于CPG的六足机器人运动步态控制方法 [J]. 计算机应用研究, 2020, 37 (9): 2749-2753. (Lin Zhiwei, Lin Hanwen, Liu Zongpeng. CPG-based motion gait control method of hexapod robot [J]. Application Research of Computers, 2020, 37 (9): 2749-2753. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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