Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm

DOI10.1007/S10846-012-9661-1zbMath1251.70002OpenAlexW2026846936MaRDI QIDQ1761247

Jianbin Zhang, Guanjiao Ren, Weihai Chen

Publication date: 15 November 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-012-9661-1

zbMATH Keywords

smooth transitionphase laggaitCPGmulti-legged robot

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Kinematics of mechanisms and robots (70B15) Signal theory (characterization, reconstruction, filtering, etc.) (94A12) Artificial intelligence for robotics (68T40)

Related Items (2)

Research on walking gait of biped robot based on a modified CPG model ⋮ Modeling and control of an eight-legged walking robot driven by different gait generators

Cites Work

• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• The nature of the coupling between segmental oscillators of the lamprey spinal generator for locomotion: a mathematical model
• Engineering entrainment and adaptation in limit cycle systems
• Design of Statically Stable Walking Robot: A Review
• Multi-template approach to realize central pattern generators for artificial locomotion control
• Attitude control in walking hexapod robots: an analogic spatio‐temporal approach

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