CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition
1
State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
2
College of Mechanical Engineering, Chongqing University, Chongqing 400044, China
3
School of Microelectronics and Communication of Engineering, Chongqing 400044, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(17), 3705; https://doi.org/10.3390/s19173705
Received: 7 July 2019
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Revised: 18 August 2019
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Accepted: 22 August 2019
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Published: 26 August 2019
(This article belongs to the Special Issue Sensors and Robot Control)
This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stable gait transitions smoothly and continuously. MATLAB and ADAMS simulations and corresponding practical experiments are conducted. The results show that the proposed method can achieve smooth and continuous mutual gait transitions, which proves the effectiveness of the proposed CPG-based hexapod robot control.
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Keywords:
legged locomotion; legged robot; hexapod robot; gait planning; bionic locomotion control; CPG
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MDPI and ACS Style
Bai, L.; Hu, H.; Chen, X.; Sun, Y.; Ma, C.; Zhong, Y. CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition. Sensors 2019, 19, 3705. https://doi.org/10.3390/s19173705
AMA Style
Bai L, Hu H, Chen X, Sun Y, Ma C, Zhong Y. CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition. Sensors. 2019; 19(17):3705. https://doi.org/10.3390/s19173705
Chicago/Turabian StyleBai, Long, Hao Hu, Xiaohong Chen, Yuanxi Sun, Chaoyang Ma, and Yuanhong Zhong. 2019. "CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition" Sensors 19, no. 17: 3705. https://doi.org/10.3390/s19173705
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