Lian, Yunlong, Wang, Tianyuan, Ingham, Joe et al. (2 more authors) (2023) CPG-based locomotion control of a quadruped robot with an active spine. In: Iida, Fumiya, Abdulali, Arsen and Wang, Mingfeng, (eds.) Towards Autonomous Robotic Systems (TAROS) 2023 Conference. 24th Towards Autonomous Robotic Systems Conference (TAROS), 13-15 Sep 2023 Springer , GBR
Abstract
Central pattern generators (CPGs) are neural networks re- sponsible for producing rhythmic behaviours and are commonly found in both vertebrate and invertebrate animals. This paper proposes a novel internal feedback mechanism for a CPG model designed to generate leg- spine coordinated locomotion in a quadruped robot with an active spine. This mechanism enables the CPG to independently control the frequency and amplitude of the stance and swing durations while also modifying the definition of stance and swing phases to generate more gaits. The CPG model’s results are demonstrated on a simulated ”tensegrity quadruped robot” called TQbot, which features a flexible spine with 3 degrees of freedom (DOF). By adjusting the parameters, the CPG model can gen- erate gaits with leg-spine coordination and uses the spine for turning.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) The University of York > Faculty of Sciences (York) > Physics (York) |
Depositing User: | Pure (York) |
Date Deposited: | 23 Aug 2023 09:20 |
Last Modified: | 19 Mar 2025 00:14 |
Status: | Published |
Publisher: | Springer |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:202692 |
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