Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex-基于中央模式发生器(CPG)和反射的四足机器人自适应步行控制.pdfVIP

JControl 20131 1(3)386-392 TheoryAppl DOI controlof robots Adaptivewalking quadruped basedoncentral pattern andreflex WANG ChengjuLIU，QijunCHENt，Guoxing ofElectronicsandInformation Department Engineering，and ofEmbeddedandService of KeyLaboratory System 201804，China Computing，MinistryEducation，Ton萄iUniversity,Shanghai Abstract：This acentral vestibular fora fCPG)and reflexcombinedcontrol paperpresents patterngenerator strategy robot．Anoscillatornetworkanda functionare torealizethe motionfor quadruped knee．to．hipmapping presented rhythmic the robot．A methodis to the ofoscillatornetwork．First． quadrupedtwo—phaseparametertuning designedadjustparameters basedonthenumerical simulation，theinfluencesofthe onthe are the parametersoutputsignalsanalyzed，thengenetic usedtoevolvethe oftheoscillatorsto realizethebasicanimal．1ike algorithm(GA)is phaserelationships walkingpattern． animal’svestibularreflexmechanismismimickedtorealizethe the Moreover,the