Locomotion Pattern Control for a Semi-Looper Type Robot with Four Links Using Central Pattern Generators

Abstract

A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with four links and three actuators, a CPG controller is designed by applying three coupled van der Pol (VDP) oscillators. Finally, some simulations are conducted to demonstrate the effectiveness of the method.