Inter-limb and intra-limb coordination control of quadruped robots  

作　　者：李华师 韩宝玲 罗庆生 

机构地区：[1]School of Mechanical Engineering,Beijing Institute of Technology [2]School of Mechatronical Engineering,Beijing Institute of Technology

出　　处：《Journal of Beijing Institute of Technology》2015年第4期478-486,共9页北京理工大学学报（英文版）

基　　金：Supported by the Ministerial Level Advanced Research Foundation(40401060305)

摘　　要：To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.To realize the coordinated and stable rhythmic motion of quadruped robots （QRs）, the locomotion control method of QRs based on central pattern generator （CPG） was explored. In tradi- tional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficien- cies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the pro- posed control method is effective for QRs and can meet the control requirements of QRs＇ gaits with different duty factors.

关 键 词：quadruped robot locomotion control central pattern generator （CPG） inter-limb co-ordination intra-limb coordination Hopf oscillator 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]