Adaptive Locomotion Controller for a Quadruped Robot

Adaptive Locomotion Controller for a Quadruped Robot Step 2 : Existing Models and Controllers Simon Ruffieux

Biologically-Inspired Locomotion Controller for a Quadruped Walking Robot: Analog IC Implementation of a CPG-Based Controller

The present paper proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for robot locomotion have been proposed, but...

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...

Robot Phase Entrainment on Quadruped CPG Controller

Central Pattern Generators are used in several kinds of robot locomotion, from swimming and flying, to bipeds, quadrupeds and hexapods. It is thought that this approach can yield better results in dynamical and natural environments. In this work we expand a previous quadruped locomotion controller and propose a method to couple the step cycle phase onto the locomotor CPG of a quadruped robot, c...

Adaptive gait pattern control of a quadruped locomotion robot

The authors have proposed a control system of a quadruped locomotion robot by using nonlinear oscillators. It is composed of a leg motion controller and a gait pattern controller. The leg motion controller drives the actuators of the legs by using local feedback control. The gait pattern controller involves nonlinear oscillators with mutual interactions. In this paper, capability of adaptation ...