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Authors: Vitor Matos and Cristina P. Santos

Affiliation: University of Minho, Portugal

Keyword(s): Central Pattern Generator, Quadruped locomotion, Locomotion Entrainment.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Central Pattern Generators are used in several kinds of robot locomotion, from swimming and flying, to bipeds, quadrupeds and hexapods. It is thought that this approach can yield better results in dynamical and natural environments. In this work we expand a previous quadruped locomotion controller and propose a method to couple the step cycle phase onto the locomotor CPG of a quadruped robot, creating a feedback pathway to coordinate the phases of each leg to the phase of the step cycle. This approach is tested in a simulated quadruped robot and the performed locomotion is evaluated. Results demonstrate that the proposed phase coupling synchronizes the swing step phase of ipsilateral legs to the respective step phase of the cycle and show an improvement in stability of the performed walk gait.

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Paper citation in several formats:
Matos, V. and P. Santos, C. (2012). Robot Phase Entrainment on Quadruped CPG Controller. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 260-265. DOI: 10.5220/0004037802600265

@conference{icinco12,
author={Vitor Matos. and Cristina {P. Santos}.},
title={Robot Phase Entrainment on Quadruped CPG Controller},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={260-265},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004037802600265},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Robot Phase Entrainment on Quadruped CPG Controller
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Matos, V.
AU - P. Santos, C.
PY - 2012
SP - 260
EP - 265
DO - 10.5220/0004037802600265
PB - SciTePress

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