A Novel Double-Layered Central Pattern Generator-Based Motion Controller for the Hexapod Robot

Ying Zhang, Guifang Qiao (), Qi Wan, Lei Tian and Di Liu
Additional contact information
Ying Zhang: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
Guifang Qiao: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
Qi Wan: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
Lei Tian: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
Di Liu: School of Automation, Nanjing Institute of Technology, Nanjing 211167, China

Mathematics, 2023, vol. 11, issue 3, 1-15

Abstract: To implement the various movement control of the hexapod robot, a motion controller based on the double-layered central pattern generator (CPG) is proposed in this paper. The novel CPG network is composed of a rhythm layer and a pattern layer. The CPG neurons are constructed based on Kuramoto nonlinear oscillator. The parameters including the frequency, coupling strength, and phase difference matrix of the CPG network for four typical gaits are planned. The mapping relationship between the signals of the CPG network and the joint trajectories of the hexapod robot is designed. The co-simulations and experiments have been conducted to verify the feasibility of the proposed CPG-based controller. The actual average velocities of the wave gait, the tetrapod gait, the tripod gait, and the self-turning gait are 10.8 mm/s, 25.5 mm/s, 37.8 mm/s and 26°/s, respectively. The results verify that the hexapod robot with the proposed double-layered CPG-based controller can perform stable and various movements.

Keywords: hexapod robot; gait planning; central pattern generator; biomimetic robot; motion controller (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/11/3/617/pdf (application/pdf)
https://www.mdpi.com/2227-7390/11/3/617/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:11:y:2023:i:3:p:617-:d:1047135

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().