Autors: Liu, T., Lu, Z., Chen, Y., Shan, Ch., Liu, Y., Zhao, Y., Penčić, M., Čavić, M., Ilieva, R. Y., Marjan, M.
Title: Survey of CPG-based motion control methods of hexapod robot | 基于 CPG 的六足机器人运动控制方法研究综述
Keywords: Central pattern generator (CPG), hexapod robot gait motion

Abstract: Taking the hexapod robot as the research object, the current development situation of the central pattern generator (CPG) at home and abroad is analyzed, and it is revealed that the oscillator is mainly used as the controller for signal output. For how to build the CPG model, the Hopf oscillator is used as an example for model building and improvement, and the experimental platform of the hexapod robot is built to verify that the CPG model is feasible to control the gait motion of the hexapod robot. Finally, the development prospect of the CPG-based hexapod robot is given.

References

    Issue

    Gaojishu Tongxin/Chinese High Technology Letters, vol. 33, issue 7, pp. 762–771, 2023, China, High Technology Letters Press, DOI: 10.3772/j.issn.1002-0470.2023.07.010

    Copyright High Technology Letters Press, Institute of Scientific and Technical Information of China

    Вид: статия в списание, публикация в издание с импакт фактор, публикация в реферирано издание, индексирана в Scopus