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This paper presents an adaptive control system of central pattern generators (CPG) made of a network of mutually coupled Van Del Pol nonlinear oscillators. The CPG based controller is used to generate stable rhythmical locomotion trajectories. With the sensorial information feedback, a novel adaptive control strategy is implemented to help a quadruped robot with only two rotary Degrees Of Freedom...
This paper proposed a fuzzy control system based on oscillator networks for the locomotion control of the quadruped robot whose legs have no yaw freedom. The oscillator networks are used to generate stable, synchronized leg gait signal for the locomotion of the robot. The fuzzy controller is introduced to tune the parameters of the oscillator networks for generating adaptive leg motion curve for the...
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