QQ客服 官方微博 反馈留言

	Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model
	Zhang, Xiuli ; Zheng, Haojun ; Chen, Lianfeng
	2010-05-10 ; 2010-05-10
关键词	gait transition quadrupedal robot central pattern generator rhythmic motion neural oscillator ADAPTIVE DYNAMIC WALKING NEURAL-CONTROL LOCOMOTION SYSTEM OSCILLATIONS INSECTS Robotics
中文摘要	The pattern-generator-based approach for legged robot control is inspired by biological neural mechanisms of locomotion, in which a special challenge is gait transition. In this paper we build a holosymmetric central pattern generator model and propose parameter-setting principles for a gait matrix capable of producing typical quadrupedal gaits, and based on them present an approach of directly replacing the gait matrix for gait transition, with a focus on three problems emerging during transition: breakpoint, phase-lock and oscillation-stop. Breakpoints are smoothed by remaining the current outputs during transition, similar to a zero-order holder. Breaking the phase-lock is accomplished by adding a perturbation to the state matrix at the transiting point. An oscillation-stop of less than one period can be ignored. With such treatments, it is proved that gait transitions between any two gaits on a quadrupedal robot can be achieved at arbitrary phase locations in a walk cycle, theoretically and experimentally in part.
语种	英语 ; 英语
出版者	VSP BV ; LEIDEN ; BRILL ACADEMIC PUBLISHERS, PO BOX 9000, 2300 PA LEIDEN, NETHERLANDS
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24980]
专题	清华大学
推荐引用方式 GB/T 7714	Zhang, Xiuli,Zheng, Haojun,Chen, Lianfeng. Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model[J],2010, 2010.
APA	Zhang, Xiuli,Zheng, Haojun,&Chen, Lianfeng.(2010).Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model..
MLA	Zhang, Xiuli,et al."Gait transition for a quadrupedal robot by replacing the gait matrix of a central pattern generator model".(2010).

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。