Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network including Motor Dynamic Model

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  • Son Yurak
    Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
  • Kamano Takuya
    Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
  • Yasuno Takashi
    Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
  • Suzuki Takayuki
    Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
  • Harada Hironobu
    Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima

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Other Title
  • モータ動特性を考慮したCPGネットワークによる4脚ロボットの歩行動作の生成
  • モータ ドウトクセイ オ コウリョ シタ CPG ネットワーク ニ ヨル 4キャク ロボット ノ ホコウ ドウサ ノ セイセイ

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Abstract

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns.

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