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Inspired by the biological concept of central pattern generators (CPGs), this paper deals with adaptive walking control of biped robots. Using CPGs, a trajectory generator is designed consisting of a center-of-gravity (CoG) trajectory generator and a workspace trajectory modulation process. Entraining with feedback information, the CoG generator can generate adaptive CoG trajectories online and workspace...
This paper deals with the walking control of biped robots inspired by biological concept of central pattern generator (CPG). A control architecture is proposed with a trajectory generator and a motion engine. The trajectory generator consists of a CoG (center of gravity) trajectory generator and a foot trajectory modulator. The CoG generator generates adaptive CoG trajectories online and the foot...
This paper presents a locomotion control strategy for quadruped robots based on central pattern generator (CPG). The proposed control architecture consists of a workspace trajectory generator and a motion engine. The CPG-inspired trajectory generator can generate workspace trajectories and the motion engine can calculate the accurate joint control signals. Moreover, entrainment with sensory feedback...
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