Gait control for bio-inspired hexapod robot based on Kimura neural oscillator(PDF)
《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]
- Issue:
- 2023年第12期
- Page:
- 1540-1547
- Research Field:
- 医学信号处理与医学仪器
- Publishing date:
Info
- Title:
- Gait control for bio-inspired hexapod robot based on Kimura neural oscillator
- Author(s):
- TIAN Jianpeng; CAO Le; XU Haoyang; ZHANG Sihe
- School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
- Keywords:
- Keywords: central pattern generator Kimura neural oscillator bio-inspired hexapod robot gait control
- PACS:
- R318；TP242
- DOI:
- DOI:10.3969/j.issn.1005-202X.2023.12.013
- Abstract:
- Abstract: Biological central pattern generator (CPG) is of great research significance to the gait control for hexapod robot. Therefore, a Kimura neural oscillator based CPG gait control strategy for hexapod robot is proposed. The mechanical structure of hexapod robot is designed with the spider as the bionic object, and its kinematics is solved. An oscillator model is established based on Kimura neural oscillator, and its parameters are adjusted. The CPG network model is designed according to the phase relation of the 6 legs of the robot. Gait experiments are conducted with computer simulation tools and prototypes. The results demonstrate that the output signal amplitude and phase difference of the CPG network model generated based on Kimura neural oscillator are stable, meeting the gait control requirements of hexapod robot. The study provides a feasible gait control strategy for hexapod robot.
Last Update: 2023-12-27