Robot Phase Entrainment on Quadruped CPG Controller

Vitor Matos, Cristina P. Santos

2012

Abstract

Central Pattern Generators are used in several kinds of robot locomotion, from swimming and flying, to bipeds, quadrupeds and hexapods. It is thought that this approach can yield better results in dynamical and natural environments. In this work we expand a previous quadruped locomotion controller and propose a method to couple the step cycle phase onto the locomotor CPG of a quadruped robot, creating a feedback pathway to coordinate the phases of each leg to the phase of the step cycle. This approach is tested in a simulated quadruped robot and the performed locomotion is evaluated. Results demonstrate that the proposed phase coupling synchronizes the swing step phase of ipsilateral legs to the respective step phase of the cycle and show an improvement in stability of the performed walk gait.

Paper Citation

in Harvard Style

Matos V. and P. Santos C. (2012). Robot Phase Entrainment on Quadruped CPG Controller . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 260-265. DOI: 10.5220/0004037802600265

in Bibtex Style

@conference{icinco12,
author={Vitor Matos and Cristina P. Santos},
title={Robot Phase Entrainment on Quadruped CPG Controller},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={260-265},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004037802600265},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Robot Phase Entrainment on Quadruped CPG Controller
SN - 978-989-8565-22-8
AU - Matos V.
AU - P. Santos C.
PY - 2012
SP - 260
EP - 265
DO - 10.5220/0004037802600265