Modeling and Simulation of Hexapod Kinematics with Central Pattern Generator

نویسندگان

چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

On Chaotic Oscillator-Based Central Pattern Generator for Motion Control of Hexapod Walking Robot

In this paper, we address a problem of motion control of a real hexapod walking robot along a trajectory of the prescribed curvature and desired motion gait. The proposed approach is based on a chaotic neural oscillator that is employed as the central pattern generator (CPG). The CPG allows to generate various motion gaits according to the specified period of the chaotic oscillator. The output ...

متن کامل

Central Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot

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 incorpo...

متن کامل

Central Pattern Generator in Bio-inspired Robot: Simulation using MATLAB

Central pattern generator (CPG) is defined here as a neural network responsible for the production of the timing cues of a rhythmic motor output pattern. In biological system, the CPG is a network of neurons that generate the rhythmic movements such as locomotion of animals. This rhythmic movement will induced a coordination of physical parts that necessary for stable locomotion. To implement t...

متن کامل

Walking Pattern Generator Using an Evolutionary Central Pattern Generator

For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central Pattern Generator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evol...

متن کامل

Invertebrate central pattern generator circuits.

There are now a reasonable number of invertebrate central pattern generator (CPG) circuits described in sufficient detail that a mechanistic explanation of how they work is possible. These small circuits represent the best-understood neural circuits with which to investigate how cell-to-cell synaptic connections and individual channel conductances combine to generate rhythmic and patterned outp...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)

سال: 2016

ISSN: 2089-4856,2089-4856

DOI: 10.11591/ijra.v5i2.pp72-86