In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in ...

This proposed thesis topic aims to combine automated planning and hybrid control techniques. In this paper we describe a particular case study in this direction: the development of a quadruped bouncing gait with four qualitative states, quad-stance, touch-off, flight, and touchdown. Our approach is novel in that gait achievement is defined in terms of flexible constraint windows in statespace a...

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait is...

Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via the coordination between limbs and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). Although this forms the basis for current control paradigms of interlimb coordination, the mechanis...

Recently, the development of intelligent robots has benefited from a deeper understanding of the biomechanics and neurology of biological systems. Researchers have proposed the concept of Central Pattern Generators (CPGs) as a mechanism for generating an efficient control strategy for legged robots based on biological locomotion principles. Although many studies ha...

This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern Generator (CPG) network with Hopf oscillators is then extended to eight-neuron network with four more triggerenabled neurons, which controls the lateral trot. Wi...

We present an automated approach to robot and locomotion-controller design optimization, using reinforcement learning methods that have been successfully demonstrated to teach a real prototype quadruped various walking gaits. The same machine learning methods are used here for a different purpose: to optimize robot and locomotion-controller design. Optimization can be used before or after build...

In this paper we examine locomotion in the context of self-reconfigurable robots. Self-reconfigurable robots are robots built from many connected modules. A selfreconfigurable robot can change its shape and configuration by changing the way these modules are connected. The focus of this paper is to understand how several locomotion gaits can be represented in such a robot and how the robot can ...

Legged robots offer the potential to navigate a wide variety of terrains that are inaccessible to wheeled vehicles. In this paper we consider the planning and control tasks of navigating a quadruped robot over a wide variety of challenging terrain, including terrain which it has not seen until run-time. We present a software architecture that makes use of both static and dynamic gaits, as well ...

In this paper, we investigate the energetics of constant height level bounding gaits in quadruped robots with asymmetric body-mass distribution along the longitudinal axis. Analytical expressions for mechanical specific resistance for two cases of bounding are derived: bounding with equal front and rear leg step lengths, and bounding with unequal front and rear leg step lengths. Specific resist...