Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks.

カテゴリ: 部門大会

論文No: GS5-1

グループ名: 【C】平成21年電気学会電子・情報・システム部門大会講演論文集

発行日: 2009/09/03

タイトル(英語): Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks.

著者名: アヌワビンモハメドカシム (徳島大学),安野 卓(徳島大学),桑原 明伸(徳島大学)

著者名(英語): MohamedKassim AnuarBin(Tokushima University),Takashi Yasuno(Tokushima University),Akinobu Kuwahara(Tokushima University)

キーワード: two-dimensional|moving control|CPG network|quadruped hopping robot|reference height

要約(日本語): In this paper, we discuss on the generation of moving control for our developed quadruped hopping robot while jumping continuously. We approached the method which we used the reference height control system to conduct the differences of reference height for each leg of quadruped hopping robot. By using the approach method, the posture of quadruped hopping robot will incline ahead to the direction which it wants to move. On the other hand, we evaluate the effectiveness of Central Pattern Generator (CPG) network to keep the stability of quadruped hopping robot and avoiding it from tumble ahead. We used MATLAB/Simulink model to generate the moving control in various type of motion. As the result, we confirmed the effectiveness of approach method to generate moving control of quadruped hopping robot while making continuous jumping, respectively.

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