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TitleA new CPG model for the generation of modular trajectories for hexapod robots
Author(s)Pinto, Carla M. A.
Rocha, Diana
Santos, Cristina
Matos, Vítor
Modular locomotion
Rhythmic primitive
Discrete primitive
Issue date2011
PublisherAIP Publishing
JournalAIP Conference Proceedings
Abstract(s)Legged robots are often used in a large variety of tasks, in different environments. Nevertheless, due to the large number of degrees-of-freedom to be controlled, online generation of trajectories in these robots is very complex. In this paper, we consider a modular approach to online generation of trajectories, based on biological concepts, namely Central Pattern Generators (CPGs). We introduce a new CPG model for hexapod robots’ rhythms, based in the work of Golubitsky et al (1998). Each neuron/oscillator in the CPG consists of two modules/primitives: rhythmic and discrete. We study the effect on the robots’ gaits of superimposing the two motor primitives, considering two distinct types of coupling.We conclude, from the simulation results, that the amplitude and frequency of periodic solutions, identified with hexapods’ tripod and metachronal gaits, remain constant for the two couplings, after insertion of the discrete part.
TypeConference paper
Publisher version
AccessOpen access
Appears in Collections:DEI - Artigos em atas de congressos internacionais

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