Coupled Van Der Pol oscillators utilised as central pattern generators for quadruped locomotion

Authors:
Chengju Liu;Qijun Chen;Jiaqi Zhang
Affiliations:
School of Electronics and Information Engineering, Tongji University, Shanghai, China;School of Electronics and Information Engineering, Tongji University, Shanghai, China;School of Electronics and Information Engineering, Tongji University, Shanghai, China
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Year:
2009

Citing 5
Cited 1

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

Autonomous Robots
Dynamic bipedal walking assisted by learning

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2008 Special Issue: Central pattern generators for locomotion control in animals and robots: A review

Neural Networks
Behavior transition between biped and quadruped walking by using bifurcation

Robotics and Autonomous Systems

On-line frequency adaptation and movement imitation for rhythmic robotic tasks

International Journal of Robotics Research

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Abstract

Central pattern generators (CPGs) inspired from neural system of animal are widely used for the control of locomotion in robots. The objective of this paper is to modeling a CPG-network formed by a set of mutually coupled Van Der Pol (VDP) oscillators to generating rhythmic movement patterns for multi-joint robot. Firstly, a VDP-CPG network is made up by four coupled VDP oscillators, which can produce multiple phase-locked oscillation patterns that correspond to the four basic quadrupedal gaits. Then the gait transitions between the different gaits are generated by altering the internal oscillator parameters. At last, we use VDP-CPG network to produce the joints trajectories for AIBO to control the locomotion. The simulation and experimental results demonstrate that the designed VDP-CPG network is effective to control the quadruped locomotion.