Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex  

作　　者：Chengju LIU Qijun CHEN Guoxing WANG 

机构地区：[1]Department of Electronics and Information Engineering, and Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University

出　　处：《控制理论与应用（英文版）》2013年第3期386-392,共7页

基　　金：supported by the National Natural Science Foundation of China (No. 61203344);the International Technology Cooperation Project (No.2010DFA12210);the China Postdoctoral Science Foundation (No. 2011M500627);the Shanghai Science and Technology Committee Talent Program(No. 11XD1404800);the ‘Dawn Tracking’ Program of Shanghai Education Commission, China (No. 10GG11)

摘　　要：This paper presents a central pattern generator （CPG） and vestibular reflex combined control strategy for a quadruped robot. An oscillator network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. A two-phase parameter tuning method is designed to adjust the parameters of oscillator network. First, based on the numerical simulation, the influences of the parameters on the output signals are analyzed, then the genetic algorithm （GA） is used to evolve the phase relationships of the oscillators to realize the basic animal-like walking pattern. Moreover, the animal＇s vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on a slope terrain. Coupled with the sensory feedback information, the robot can walk up and down the slope smoothly. The presented bio-inspired control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG and vestibular reflex combined control method, AIBO can cope with slipping, falling down and walk on a slope successfully, which demonstrates the effectiveness of the proposed walking control method.This paper presents a central pattern generator （CPG） and vestibular reflex combined control strategy for a quadruped robot. An oscillator network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. A two-phase parameter tuning method is designed to adjust the parameters of oscillator network. First, based on the numerical simulation, the influences of the parameters on the output signals are analyzed, then the genetic algorithm （GA） is used to evolve the phase relationships of the oscillators to realize the basic animal-like walking pattern. Moreover, the animal＇s vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on a slope terrain. Coupled with the sensory feedback information, the robot can walk up and down the slope smoothly. The presented bio-inspired control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG and vestibular reflex combined control method, AIBO can cope with slipping, falling down and walk on a slope successfully, which demonstrates the effectiveness of the proposed walking control method.

关 键 词：CPG Walking control Quadruped robot Vestibular reflex 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]