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

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dc.contributor.authorDe Paula, Daniel Teixeira [UNESP]
dc.contributor.authorPaciencia Godoy, Eduardo [UNESP]
dc.contributor.authorBecerra-Vargas, Mauricio [UNESP]
dc.contributor.institutionUniversidade Estadual Paulista (UNESP)
dc.date.accessioned2023-03-02T11:27:35Z
dc.date.available2023-03-02T11:27:35Z
dc.date.issued2022-01-01
dc.description.abstractLegged 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.en
dc.description.affiliationSão Paulo State University (Unesp) Institute of Science and Technology Sorocaba, SP
dc.description.affiliationUnespSão Paulo State University (Unesp) Institute of Science and Technology Sorocaba, SP
dc.format.extent988-993
dc.identifierhttp://dx.doi.org/10.1109/MED54222.2022.9837290
dc.identifier.citation2022 30th Mediterranean Conference on Control and Automation, MED 2022, p. 988-993.
dc.identifier.doi10.1109/MED54222.2022.9837290
dc.identifier.scopus2-s2.0-85136297556
dc.identifier.urihttp://hdl.handle.net/11449/242177
dc.language.isoeng
dc.relation.ispartof2022 30th Mediterranean Conference on Control and Automation, MED 2022
dc.sourceScopus
dc.titleTowards Dynamic Quadruped Locomotion: Development of a CPG-driven Foot Trajectory Generatoren
dc.typeTrabalho apresentado em evento

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Artigos - Engenharia de Controle e Automação - Sorocaba