TY - GEN
T1 - Locomotion pattern generation of semi-looper type robots using central pattern generators based on van der pol oscillators
AU - Watanabe, Keigo
AU - Tajima, Akihito
AU - Izumi, Kiyotaka
PY - 2008/10/31
Y1 - 2008/10/31
N2 - A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the robot is conducted using a CPG consisting of one van der Pol (VDP) oscillator. A CPG network composed of two VDP oscillators is further constructed to realize four-rhythm motion with three links and two actuators.
AB - A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the robot is conducted using a CPG consisting of one van der Pol (VDP) oscillator. A CPG network composed of two VDP oscillators is further constructed to realize four-rhythm motion with three links and two actuators.
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U2 - 10.1109/INDIN.2008.4618128
DO - 10.1109/INDIN.2008.4618128
M3 - Conference contribution
AN - SCOPUS:54849427071
SN - 9781424421718
T3 - IEEE International Conference on Industrial Informatics (INDIN)
SP - 377
EP - 382
BT - Proceedings - IEEE INDIN 2008
T2 - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
Y2 - 13 July 2008 through 16 July 2008
ER -