Atenção!


O atendimento às questões referentes ao Repositório Institucional será interrompido entre os dias 20 de dezembro de 2024 a 5 de janeiro de 2025.

Pedimos a sua compreensão e aproveitamos para desejar boas festas!

 

Towards Dynamic Quadruped Locomotion: Development of a CPG-driven Foot Trajectory Generator

Nenhuma Miniatura disponível

Data

2022-01-01

Orientador

Coorientador

Pós-graduação

Curso de graduação

Título da Revista

ISSN da Revista

Título de Volume

Editor

Tipo

Trabalho apresentado em evento

Direito de acesso

Resumo

Legged locomotion has been a widespread daily activity of animals for millions of years, and many of its subtleties are founded on imposed conditions for survival. Agile movement in environments built for human locomotion could be achieved by extracting and implementing key aspects of legged locomotion in artificial creations. This work proposes a novel high-level control system module for dynamic quadruped robot locomotion, integrating the rhythmic developing capabilities of CPGs with foot trajectory generation based on Bézier curves. The proposed system utilizes CPG output signals as driving parameters for a foot trajectory generator based on Bézier curves and is built using a Matlab/Simulink simulated environment, with tests being carried out to validate its quadruped locomotion aptitude with regards to limit-cycle convergence and establishment of synchronized and stable phase shifts corresponding to desired gaits. The results point toward a sound performance of the proposed strategies, showing great promise regarding its locomotion capabilities. Lastly, additions to enhance the system's effectiveness and enable its use in a complete locomotion control system are suggested to be further explored in future works.

Descrição

Palavras-chave

Idioma

Inglês

Como citar

2022 30th Mediterranean Conference on Control and Automation, MED 2022, p. 988-993.

Itens relacionados

Financiadores