Gait Pattern Stabilization using Central Pattern Generator with Foothold Force Optimization for Quadruped Robots
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
2022-July
ISBN
9781665413084
Date Issued
2022-01-01
Author(s)
Chen, Liang Jie
Abstract
We introduce a unique central pattern generator (CPG) that can synchronize the phases of the legs on quadruped robots without interfering with their oscillation and use it as an alternative to finite state machines in optimal controllers. For all we know, this is the first ever attempt to combine a CPG and an optimal controller in quadruped robots. The proposed central pattern generator is able to eliminate disturbances in gait patterns and maintain the support polygon for the optimal controller to stabilize the robot. With the advantage of both sides, the robot is able to sufficiently increase the chance of passing through randomly generated terrains compared to the robot without any interlimb coordination in simulations.
Subjects
Central Pattern Generator | Gait Pattern | Optimal Control | Optimization | Quadruped Robot
Type
conference paper