Motion Control of a Gecko-like Robot Based on a Central Pattern Generator

Motion Control of a Gecko-like Robot Based on a Central Pattern Generator

To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each jo...

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Bibliographic Details
Main Authors: Qing Han, Feixiang Cao, Peng Yi, Tiancheng Li
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Sensors
Subjects:
gecko-like robot
central pattern generator
motion control
collision avoidance
Online Access:https://www.mdpi.com/1424-8220/21/18/6045
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spelling doaj-a2763ecf14464666a572ef24a69ec8802021-09-26T01:22:01ZengMDPI AGSensors1424-82202021-09-01216045604510.3390/s21186045Motion Control of a Gecko-like Robot Based on a Central Pattern GeneratorQing Han0Feixiang Cao1Peng Yi2Tiancheng Li3School of Robot Engineering, Yangtze Normal University, Chongqing 408100, ChinaSchool of Mechatronic, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Robot Engineering, Yangtze Normal University, Chongqing 408100, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaTo solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.https://www.mdpi.com/1424-8220/21/18/6045gecko-like robotcentral pattern generatormotion controlcollision avoidance
collection DOAJ
language English
format Article
sources DOAJ
author Qing Han
Feixiang Cao
Peng Yi
Tiancheng Li
spellingShingle Qing Han
Feixiang Cao
Peng Yi
Tiancheng Li
Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
Sensors
gecko-like robot
central pattern generator
motion control
collision avoidance
author_facet Qing Han
Feixiang Cao
Peng Yi
Tiancheng Li
author_sort Qing Han
title Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
title_short Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
title_full Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
title_fullStr Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
title_full_unstemmed Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
title_sort motion control of a gecko-like robot based on a central pattern generator
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2021-09-01
description To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.
topic gecko-like robot
central pattern generator
motion control
collision avoidance
url https://www.mdpi.com/1424-8220/21/18/6045
work_keys_str_mv AT qinghan motioncontrolofageckolikerobotbasedonacentralpatterngenerator
AT feixiangcao motioncontrolofageckolikerobotbasedonacentralpatterngenerator
AT pengyi motioncontrolofageckolikerobotbasedonacentralpatterngenerator
AT tianchengli motioncontrolofageckolikerobotbasedonacentralpatterngenerator
_version_ 1716869091010019328

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