Design of Quadruped Robot Based Neural Network

Authors:
Lei Sun;Max Q. Meng;Wanming Chen;Huawei Liang;Tao Mei
Affiliations:
Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, and University of Science and Technology of China, Hefei 230021,;Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, and The Chinese University of Hong Kong, Hong Kong;Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, and University of Science and Technology of China, Hefei 230021,;Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031,;Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031,
Venue:
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
Year:
2007

Citing 3
Cited 0

Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator

Autonomous Robots
Gait synthesis and modulation for quadruped robot locomotion using a simple feed-forward network

ICAISC'06 Proceedings of the 8th international conference on Artificial Intelligence and Soft Computing
An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion

IEEE Transactions on Neural Networks

Quantified Score

Hi-index	0.00

Visualization

Abstract

The paper proposed a method for a quadruped robot control system based Central Pattern Generator (CPG) and fuzzy neural networks (FNN). The common approach for the control of a quadruped robot includes two methods mainly. One is the CPG that is based the bionics, the other is the dynamic control that is based the model of quadruped robot. The control result of CPG is decided by the gait data of the quadruped and the parameters of the CPG are choosing manually. Modeling a quadruped robot is difficult because it is a high nonlinear system. This paper presents a much simpler method for the control of a quadruped robot. A simple CPG is adopted for a timing oscillator; it generates the motion periodic pattern of legs. The FNN is used to control the joint motion in order to get a desired stable trajectory motion.