Asset Details
Do you wish to reserve the book?
Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators
Do you wish to request the book?
Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators
2023
Overview
Generating locomotive gaits is a very important work for bioinspired robots and has received wide attentions among scientists and engineers. The central pattern generator (CPG) neural system located in spinal cord is a very important imitating object to produce rhythm patterns and control locomotion of animals. This paper proposes a theoretical method to construct a novel style CPG controller for the quadruped locomotive gait based on the delay-coupled VDP oscillators. The controller system consists of four VDP oscillators scheduled with unidirectional ring structure. By using the Hopf bifurcation analysis, we obtain parameter conditions for rhythm generation and present dynamical classification of periodic rhythm with different spatiotemporal patterns, which corresponds to the gait of the quadruped locomotion. Assisting with switching network structure, the delayed VDP-CPG controller presents six types of classical locomotive gaits, i.e., pronk, lateral-sequence (L-S) walk, diagonal-sequence (D-S) walk, bound, pace, and trot, in a wide range of parameter areas. The numerical simulations are illustrated to agree with theoretical analysis. The presented approach herein provides a frame of dynamical analysis to build the CPG controller producing rhythm controlling signals of the quadruped locomotion gaits.
