Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/16573

TitleOmnidirectional locomotion in a quadruped robot : a CPG-based approach
Author(s)Matos, Vítor
Santos, Cristina
Issue date2010
PublisherIEEE
JournalIeee International Conference on Intelligent Robots and Systems
Abstract(s)Quadruped locomotion on rough terrain and un- predictable environments is still a challenge, where the concept of Central Pattern Generators (CPG) has brought interesting ideas. In this contribution we present a CPG design based on coupled oscillators, generating the required stepping movements of a limb for omnidirectional motion. Movements are on- line modulated through small value changes in the CPG’s parameters as required to perform the desired omnidirectional locomotion in a quadruped robot. We also present a method- ology to modulate the CPG’s parameters, reducing the control dimensionality, described in terms of the robot’s translational speed, angular velocity and walking orientation. Results show the proposed controller is well suited for the online generation and modulation of the motor patterns required to achieve the desired omnidirectional walking motion.
TypeConference paper
URIhttp://hdl.handle.net/1822/16573
ISBN9781424466757
DOI10.1109/IROS.2010.5652667
ISSN2153-0858
Peer-Reviewedyes
AccessOpen access
Appears in Collections:DEI - Artigos em atas de congressos internacionais

Files in This Item:
File Description SizeFormat 
C44-Omnidirectional Locomotion in a Quadruped Robot_ A CPG-based Approach.pdf831,69 kBAdobe PDFView/Open

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID