Adaptive Locomotion Generation for a Bionic Hexapod Robot

Xu, Bowen; Li, Weiheng; Ni, Yinjie; Chi, Haozhen; Ouyang, Wenbin

doi:10.1109/iecon.2019.8926833

Cited by 4 publications

(1 citation statement)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where h is a stepsize of the time t, x i ∈ R and y i ∈ R are continuous state variables, and w i,j is the coupling strength defined in Eq. (15). Further, µ i ∈ R and ξ i ∈ R are parameters characterizing an amplitude and intrinsic oscillation frequency of the state variables (x i , y i ), respectively.…”

Section: ) Hopf Cpg Model Implemented By Customized Dspmentioning

confidence: 99%

A Novel Hardware-Efficient Central Pattern Generator Model Based on Asynchronous Cellular Automaton Dynamics for Controlling Hexapod Robot

Takeda

Torikai

2020

IEEE Access

View full text Add to dashboard Cite

This paper presents a novel hardware-efficient central pattern generator (CPG) model to realize a bio-inspired gait of a hexapod robot. The CPG model consists of a network of cellular automaton (CA) oscillators; thus, it can be implemented as a network of sequential logic circuits. Detailed analyses of nonlinear oscillation dynamics show that the oscillator that is driven by multiple asynchronous clocks is more suitable to realize the gait of the robot than an oscillator that is driven by a single clock or multiple synchronous clocks. Moreover, detailed analyses of nonlinear network dynamics show that the clocks among the CA oscillators should be asynchronous to appropriately realize the gait. Using the analyses, systematic procedures to design the CPG model are proposed. The proposed CPG model is implemented in a field programmable gate array (FPGA); our experiments validate that the CPG model implemented in an FPGA can realize the bio-inspired gait of a hardware robot. Further, we show that the proposed CPG model utilizes fewer circuit elements and lower power than a conventional CPG model. INDEX TERMS Asynchronous Cellular Automaton. Central Pattern Generator (CPG). Field Programmable Gate Array (FPGA). Hexapod Robot. Nonlinear dynamics. Synchronization.

show abstract

Section: ) Hopf Cpg Model Implemented By Customized Dspmentioning

confidence: 99%