Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach

Santos, Cristina P.; Matos, Vitor

doi:10.1016/j.robot.2011.05.003

Cited by 89 publications

(42 citation statements)

References 43 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Many of the structures of hard robots are based on structures derived from the body plans of mammals (or parts of them). [1,7,8] Their skeletons are typically rigid, and electric motors (or sometimes hydraulic or pneumatic systems) provide actuation. [9,10] Muscle-a structure ubiquitous in nature-still has no real counterpart in materials science, robotics, or actuation, although there are examples of electromagnetic actuators and other useful structures (for example "air muscles") which have some muscle-like properties.…”

Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

552

393

View full text Add to dashboard Cite

The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

show abstract

Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

552

393

View full text Add to dashboard Cite

show abstract

“…In practical applications, this drive signal can be specified according to sensory information or set a priori. For example, Santos and Matos applied a brainstem-like modulation approach to achieve CPGbased gait transition and modulation for a quadruped robot, where a driving signal that encodes the required activity and/or modulation is incorporated [133]. 4) Using a transient perturbation.…”

Section: Gait Transitionmentioning

confidence: 99%

A Survey on CPG-Inspired Control Models and System Implementation

Tan

Chen

et al. 2014

IEEE Trans. Neural Netw. Learning Syst.

238

114

View full text Add to dashboard Cite

This paper surveys the developments of the last 20 years in the field of central pattern generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging robotics-related applications. Functioning as a biological neural network, CPGs can be considered as a group of coupled neurons that generate rhythmic signals without sensory feedback; however, sensory feedback is needed to shape the CPG signals. The basic idea in engineering endeavors is to replicate this intrinsic, computationally efficient, distributed control mechanism for multiple articulated joints, or multi-DOF control cases. In terms of various abstraction levels, existing CPG control models and their extensions are reviewed with a focus on the relative advantages and disadvantages of the models, including ease of design and implementation. The main issues arising from design, optimization, and implementation of the CPG-based control as well as possible alternatives are further discussed, with an attempt to shed more light on locomotion control-oriented theories and applications. The design challenges and trends associated with the further advancement of this area are also summarized.

show abstract

“…Ref. [8] applies nonlinear oscillators to model Central Pattern Generators (CPGs) that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. Ref.…”

Section: Introductionmentioning

confidence: 99%

A novel approach to gait synchronization and transition for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Digital Communications and Networks

View full text Add to dashboard Cite

Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform??s stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design

show abstract

Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach

Cited by 89 publications

References 43 publications

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

A Survey on CPG-Inspired Control Models and System Implementation

A novel approach to gait synchronization and transition for reconfigurable walking platforms

Contact Info

Product

Resources

About