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Central Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot


Makarov , Valeri A. and Del Río, Ezequiel and Bedia, Manuel G. and Velarde, Manuel G. and Ebeling, Werner (2006) Central Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot. Proceedings of World Academy of Science Engineering and Technology, 15 . 19 -24 . ISSN 1307-6884

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We proposed the use of a Toda-Rayleigh ring as a central pattern generator (CPG) for controlling hexapodal robots. We show that the ring composed of six Toda-Rayleigh units coupled to the limb actuators reproduces the most common hexapodal gaits. We provide an electrical circuit implementation of the CPG and test our theoretical results obtaining fixed gaits. Then we propose a method of incorporation of the actuator (motor) dynamics in the CPG. With this approach we close the loop CPG - environment - CPG, thus obtaining a decentralized model for the leg control that does not require higher level intervention to the CPG during locomotion in a nonhomogeneous environments. The gaits generated by the novel CPG are not fixed, but adapt to the current robot bahvior.

Item Type:Article
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Conference of the World-Academy-of-Science-Engineering-and-Technology. Barcelona, SPAIN. OCT 22-24, 2006.

Uncontrolled Keywords:Central pattern generator; Electrical circuit; Hexapod robot; Animal gaits; Walking; oscillators; Locomotion; Network
Subjects:Medical sciences > Biology > Animal physiology
ID Code:16798

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