Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator
In order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg weight-bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly enhances the strength and stiffness of the...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/5491298 |
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| _version_ | 1850170238783455232 |
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| author | Jiupeng Chen Hongjun San Xing Wu |
| author_facet | Jiupeng Chen Hongjun San Xing Wu |
| author_sort | Jiupeng Chen |
| collection | DOAJ |
| description | In order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg weight-bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly enhances the strength and stiffness of the leg in this paper. Secondly, the Simulink-ADAMS cosimulation platform is built and the improved Hopf oscillator is used in the control of robot. This control mode based on CPG realizes the walk and trot gait of quadruped robot. Thirdly, in order to solve the problems of breakpoints, phase-locked, and stopping of gait curve in the process of gait switching by directly replacing the gait matrix, the functional relationship between the right hind leg and duty cycle is introduced to realize the smooth transition of gait curve. The simulation results show that the proposed algorithm can achieve a smooth gait transformation within 4–6 second, which preliminarily proves the feasibility of the algorithm. Finally, the experimental platform is built and the control algorithm is written into the controller to realize the specific gait of the robot, which proves the effectiveness of the proposed method. |
| format | Article |
| id | doaj-art-a338e1a4f59142ae9ab2e85d04f4e55d |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-a338e1a4f59142ae9ab2e85d04f4e55d2025-08-20T02:20:32ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/54912985491298Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG OscillatorJiupeng Chen0Hongjun San1Xing Wu2Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, Yunnan, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, Yunnan, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, Yunnan, ChinaIn order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg weight-bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly enhances the strength and stiffness of the leg in this paper. Secondly, the Simulink-ADAMS cosimulation platform is built and the improved Hopf oscillator is used in the control of robot. This control mode based on CPG realizes the walk and trot gait of quadruped robot. Thirdly, in order to solve the problems of breakpoints, phase-locked, and stopping of gait curve in the process of gait switching by directly replacing the gait matrix, the functional relationship between the right hind leg and duty cycle is introduced to realize the smooth transition of gait curve. The simulation results show that the proposed algorithm can achieve a smooth gait transformation within 4–6 second, which preliminarily proves the feasibility of the algorithm. Finally, the experimental platform is built and the control algorithm is written into the controller to realize the specific gait of the robot, which proves the effectiveness of the proposed method.http://dx.doi.org/10.1155/2019/5491298 |
| spellingShingle | Jiupeng Chen Hongjun San Xing Wu Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator Complexity |
| title | Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator |
| title_full | Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator |
| title_fullStr | Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator |
| title_full_unstemmed | Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator |
| title_short | Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator |
| title_sort | gait regulation of a bionic quadruped robot with antiparallelogram leg based on cpg oscillator |
| url | http://dx.doi.org/10.1155/2019/5491298 |
| work_keys_str_mv | AT jiupengchen gaitregulationofabionicquadrupedrobotwithantiparallelogramlegbasedoncpgoscillator AT hongjunsan gaitregulationofabionicquadrupedrobotwithantiparallelogramlegbasedoncpgoscillator AT xingwu gaitregulationofabionicquadrupedrobotwithantiparallelogramlegbasedoncpgoscillator |