Walking Control Systems for Quadruped robot on Unknown Up-down Slope by Using CPG Network

Zhang Yong; Yasuno Takashi

doi:10.11511/jacc.53.0.141.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 339

DOI https://doi.org/10.11511/jacc.53.0.141.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Control for Moving Vehicle 2

Walking Control Systems for Quadruped robot on Unknown Up-down Slope by Using CPG Network

*Yong Zhang, Takashi Yasuno

Author information

Keywords: CPG, Quadruped robot, Walking control system

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Abstract

In this paper, an adaptive walking control system for a quadruped robot with CPG networks is proposed. A control strategy for recognizing the angle of slope is designed by using CPG concepts. Several groups of CPG parameters can be used to generate adaptive signals for moving on irregular terrain which include flat surface, down- up slope with different angles, respectively. The simulation results demonstrate the stability of oscillators of the CPG and the validity of control strategy. By using this control system, the robot can realize an adaptive and stable walking on irregular terrain with different slope angles from -20 deg. to 25 deg.

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