A NOVEL CPG WITH PROPRIOCEPTION AND ITS APPLICATION ON THE LOCOMOTION CONTROL OF QUADRUPED ROBOT

作     者：LEI SUN MAX Q.-H. MENG SHUAI LI HUAWEI LIANG TAO MEI 

作者机构：Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong China 

出 版 物：《International Journal of Information Acquisition》 

年 卷 期：2009年第6卷第1期

页      面：33-46页

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：CPG proprioception dynamic connectivity mechanism locomotion quadruped robot 

摘      要：This paper proposes a novel central pattern generator (CPG) model with proprioceptive mechanism and the dynamic connectivity mechanism. It not only contains the sensory information of the environment but also contains the information of the actuators and automatically tunes the parameters of CPG corresponding to the actuators information and inner sensory information. The position of the joints linked directly with the output of CPG is introduced to the CPG to find its proprioceptive system, spontaneously making the robot realize the actuator working status, further changing the CPG output to fit the change and decrease the influence of the problematic joints or actuators on the robot being controlled. So the damage would be avoided and self-protection is implemented. Its application on the locomotion control of a quadruped robot demonstrates the effectiveness of the proposed approach.