Dynamic Walking Control of Quadruped Locomotion Robot Using Neural Network.
نویسندگان
چکیده
منابع مشابه
Dynamic turning control of a quadruped locomotion robot using oscillators
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various turning speed and orientation make th...
متن کاملBiomimetic Locomotion Control of a Quadruped Walking Robot
In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulusreaction mechanism of quadrupeds’ locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In partic...
متن کاملDynamic walking and running of the quadruped using neural oscillator
In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on at terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch re ex and a exor re ex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the exor ...
متن کاملAn Analog Neural Oscillator Circuit for Locomotion Controller in Quadruped Walking Robot
In this report, we propose an analog neural oscillator circuit for a locomotion controller in a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements. These rhythmic movements are driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied CPG to t...
متن کاملOn Ballistic Walking Locomotion of a Quadruped
This paper investigates ballistic motions in walking quadrupeds on a horizontal plane. The study is carried out on a quadruped consisting of a body and four identical two-link legs. Each leg has a knee joint and is connected to the body by a haunch joint. Three types of quadruped gaits, bound, amble, and trot, are studied. None of these gaits complies with a flight phase, but they all involve s...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1996
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.62.1519