On Chaotic Oscillator-based Central Pattern Generator for Motion Control of Hexapod Walking Robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307003" target="_blank" >RIV/68407700:21230/16:00307003 - isvavai.cz</a>
Result on the web
<a href="http://ceur-ws.org/Vol-1649/131.pdf" target="_blank" >http://ceur-ws.org/Vol-1649/131.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
On Chaotic Oscillator-based Central Pattern Generator for Motion Control of Hexapod Walking Robot
Original language description
In this paper, we address a problem of motion control of a real hexapod walking robot along a trajectory of the prescribed curvature and desired motion gait. The proposed approach is based on a chaotic neural oscilátor that is employed as the central pattern generator (CPG). The CPG allows to generate various motion gaits according to the specified period of the chaotic oscillator. The output signal of the oscillator is processed by the proposed trajectory generator that allows to specify a curvature of the trajectory the robot is requested to traverse. Such a signal is then considered as an input for the inverse kinematic task which provides particular trajectories of individual legs that are directly send to the robot actuators. Thus, the main benefit of the proposed approach is that only two natural parameters are necessary to control the gait type and the robot motion. The proposed approach has been verified in real experiments. The experimental results support feasibility of the proposed concept and the robot is able to crawl desired trajectories with the tripod, ripple, low gear, and wave motion gaits.
Czech name
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Czech description
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Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
ITAT 2016: Information Technologies - Applications and Theory: Conference on Theory and Practice of Information Technologies
ISBN
1537016741
ISSN
1613-0073
e-ISSN
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Number of pages
7
Pages from-to
131-137
Publisher name
CreateSpace Independent Publishing Platform
Place of publication
Luxemburg
Event location
Tatranské Matliare
Event date
Sep 15, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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