Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control |
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| Affiliation: | 1. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, Hunan, China;2. State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha 410083, Hunan, China;3. School of Informatics, The University of Edinburgh, Edinburgh EH8 9AB, United Kingdom |
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| Abstract: | In this paper, we propose a method to control gait generation and walking speed control for an autonomous decentralized multi-legged robot by using a wave Central Pattern Generator (CPG) model. The wave CPG model is a mathematical model of nonlinear oscillators and generates rhythmic movements of the legs. The gait generation and the walking speed control are achieved by controlling the virtual energy of the oscillators (Hamiltonian). A real robot experiment showed the relationship to the Hamiltonian, the actual energy consumption and the walking speed, and the effectiveness of the proposed method was verified. |
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