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

Kód výsledku v 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>

Výsledek na webu

<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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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

7

Strana od-do

131-137

Název nakladatele

CreateSpace Independent Publishing Platform

Místo vydání

Luxemburg

Místo konání akce

Tatranské Matliare

Datum konání akce

15. 9. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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