gait planning and stability control of a quadruped robot

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ID: 191387
2016
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Ranked #37 of 77 articles by views in Organic Chemistry Frontiers

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Abstract
In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot’s gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot’s movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.
Reference Key
li2016computationalgait Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Junmin Li;Jinge Wang;Simon X. Yang;Kedong Zhou;Huijuan Tang
Journal Organic Chemistry Frontiers
Year 2016
DOI
10.1155/2016/9853070
URL
http://dx.doi.org/10.1155/2016/9853070
Keywords
computer applications to medicine medical informaticsneurosciences neuropsychiatry biological psychiatry

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