离散化四足机器人自由步态控制方法

为了实现离散化四足机器人自由步态的控制,提出一种新的基于中枢神经模式发生器(CPG)的自由步态控制方法。介绍了离散化四足机器人模型,在已确定的地形中,设定四足机器人起始点与抵达点的状态。将连续步态按照离散化步态完成排序,形成排序集合。在此基础上,利用中枢神经模式发生器CPG,采用周期性振荡信号对离散化四足机器人腿部各关节进行控制,给出单独神经元模型。为了便于分析,使用互抑神经元构成的振荡器对神经元的输出信号进行改善,通过该振荡器产生规律的振荡信号,以控制离散化四足机器人完成自由步态移动。实验结果表明,所提方法能够有效控制离散化四足机器人实现自由步态移动。

Free gait control method for discrete quadruped robot

In order to realize the control of the free gait of a quadruped robot, a new free gait control method based on the central neural pattern generator (CPG) is proposed. In this paper, the discrete quadruped robot model is introduced, and the starting point and the point of arrival of the quadruped robot are determined in the terrain. The continuous gait according to discrete gait sequence, the formation of an ordered set, on this basis, using neural net pattern generator CPG, the control of the quadruped robot leg joint discrete periodic oscillation signal, given single neuron model. In order to facilitate the analysis, the use of mutual inhibition of neurons form the oscillator output signal of neurons to improve the oscillation signal generated by the oscillator of, in order to control the discretization of quadruped robot gait movement complete freedom. The experimental results show that the proposed method can effectively control the motion of the discrete quadruped robot.