Implementing gait pattern control and transition for legged locomotion

Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297, Rocha, Marlon, Lima, Priscila, Karamanoglu, Mehmet ORCID: https://orcid.org/0000-0002-5049-2993 and Franca, Felipe M.G. (2014) Implementing gait pattern control and transition for legged locomotion. In: 27th International Conference on CADCAM, Robotics and Factories of the Fu, 22-24/July/2014, 27th International Conference on CADCAM, Robotics and Factories of the Future 2014. .

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Abstract

In this work, a generalised central pattern generator (CPG) model is formulated to generate a full range of gait patterns for a hexapod insect. To this end, a recurrent neuronal network module, as the building block for rhythmic patterns, is proposed to extend the concept of oscillatory building blocks (OBB) for constructing a CPG model. The model is able to make transitions between different gait patterns by simply adjusting one model parameter. Simulation results are further presented to show the effectiveness and performance of the CPG network.

Item Type: Conference or Workshop Item (Speech)
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 16364
Notes on copyright: Access to full text restricted pending copyright check.
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Depositing User: Zhijun Yang
Date Deposited: 28 May 2015 10:20
Last Modified: 22 Aug 2019 14:23
URI: https://eprints.mdx.ac.uk/id/eprint/16364

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