Gait control for bio-inspired hexapod robot based on Kimura neural oscillator
10.3969/j.issn.1005-202X.2023.12.013
- VernacularTitle:基于Kimura神经元振荡器的六足仿生机器人步态控制研究
- Author:
Jianpeng TIAN
1
;
Le CAO
;
Haoyang XU
;
Sihe ZHANG
Author Information
1. 上海工程技术大学电子电气工程学院,上海 201620
- Keywords:
central pattern generator;
Kimura neural oscillator;
bio-inspired hexapod robot;
gait control
- From:
Chinese Journal of Medical Physics
2023;40(12):1540-1547
- CountryChina
- Language:Chinese
-
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.
