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Appl. Sci. 2018, 8(1), 56; https://doi.org/10.3390/app8010056

A Bio-Inspired Control Strategy for Locomotion of a Quadruped Robot

1
School of Mechanical Engineering, Xihua University, Chengdu 610039, China
2
Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada
*
Authors to whom correspondence should be addressed.
Received: 4 October 2017 / Revised: 30 November 2017 / Accepted: 20 December 2017 / Published: 2 January 2018
(This article belongs to the Special Issue Bio-Inspired Robotics)

Abstract

In order to effectively plan the robot gaits and foot workspace trajectory (WT) synchronously, a novel biologically inspired control strategy for the locomotion of a quadruped robot based on central pattern generator—neural network—workspace trajectory (CPG-NN-WT) is presented in this paper. Firstly, a foot WT is planned via the Denavit-Hartenberg (D-H) notation and the inverse kinematics, which has the advantages of low mechanical shock, smooth movement, and sleek trajectory. Then, an improved central pattern generator (CPG) based on Hopf oscillators is proposed in this paper for smooth gait planning. Finally, a neural network is designed and trained to convert the CPG output to the preplanned WT, which can make full use of the advantages of the CPG-based method in gait planning and the WT-based method in foot trajectory planning simultaneously. Furthermore, virtual prototype simulations and experiments with a real quadruped robot are presented to validate the effectiveness of the proposed control strategy. The results show that the gait of the quadruped robot can be controlled easily and effectively by the CPG with its internal parameters; meanwhile, the foot trajectory meets the preplanned WT well. View Full-Text
Keywords: bio-inspired control; quadruped robot; robot trajectory; CPG; neural network bio-inspired control; quadruped robot; robot trajectory; CPG; neural network
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zeng, Y.; Li, J.; Yang, S.X.; Ren, E. A Bio-Inspired Control Strategy for Locomotion of a Quadruped Robot. Appl. Sci. 2018, 8, 56.

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