An Ergodic cellular Automaton of Central Pattern Generator for Quadruped Robot

DOI IR (HANDLE)

Bibliographic Information

Other Title
  • エルゴード的セルオートマトンCPGを用いた4脚歩行ロボットについて

Description

A novel ergodic cellular automaton (CA) oscillator and its theoretical analysis method are presented. Theoretical analyses reveal the oscillator is more suited to build a central pattern generator (CPG) compared to a standard non-ergodic CA oscillator. Further, it is shown the ergodic CA CPG can generate rhythmic signals suitable for realizing fundamental gaits of a quadruped robot. Then a prototype of the ergodic CA CPG is implemented by a field programmable gate array and experiments show it can realize the fundamental gaits of a physically implemented quadruped robot. Further, it is shown the ergodic CA CPG consumes much lower power and much fewer circuit resources compared to a typical conventional CPG implemented by a customized digital signal processor.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390011540582403456
  • DOI
    10.15002/00025333
  • HANDLE
    10114/00025333
  • ISSN
    24368083
  • Text Lang
    ja
  • Article Type
    departmental bulletin paper
  • Data Source
    • JaLC
    • IRDB
  • Abstract License Flag
    Allowed

Report a problem

Back to top