[1]REN Jie,XU Haidong,GAN Su,et al.CPG model design based on hopf oscillator forhexapod robots gait[J].CAAI Transactions on Intelligent Systems,2016,11(5):627-634.[doi:10.11992/tis.201601036]
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CPG model design based on hopf oscillator forhexapod robots gait

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 5 Page number: 627-634 Column: 学术论文—智能系统 Public date: 2016-11-01
Title:
CPG model design based on hopf oscillator forhexapod robots gait
Author(s):
REN Jie;  XU Haidong;  GAN Su;  WANG Binrui
College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
Keywords:
central pattern generator; Hopf oscillator; hexapod robots; kinematic analysis
CLC:
TP242
DOI:
10.11992/tis.201601036
Abstract:
The key to bionic motion is a central pattern generator (CPG), which realizes the crawl gait of a hexapod. Firstly, the coordinate system of the robot was set up and the associated forward kinematics were solved based on D-H parameters. Hopf oscillators were then adopted into the design of coupling models involving multiple legs. A CPG ring topology structure was established using six CPG units, with each CPG unit consisting of two coupled Hopf oscillators, which output the hip and ankle joint signals, respectively. In order to control each joint (of a hexapod robot), a knee-ankle mapping function was used. The function mapped the output of the ankle to joint angles for both the knees and ankles. The number of oscillators in the CPG network was reduced using this method. Meanwhile, the coupling coefficient was changed to guarantee the phase interlock of adjacent oscillators and give a stable and smooth signal. Finally, a physical prototype was constructed for testing the robotic gait. The simulations and test results show that this CPG network has a stable phase difference, which ensures that hexapod robot can walk stably in a triangular gait and a crawling speed of approximately 6.45 cm/sec can be achieved.
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