Bai Long, Hu Hao, Chen Xiaohong, Sun Yuanxi, Ma Chaoyang, Zhong Yuanhong
State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China.
College of Mechanical Engineering, Chongqing University, Chongqing 400044, China.
Sensors (Basel). 2019 Aug 26;19(17):3705. doi: 10.3390/s19173705.
This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stable gait transitions smoothly and continuously. MATLAB and ADAMS simulations and corresponding practical experiments are conducted. The results show that the proposed method can achieve smooth and continuous mutual gait transitions, which proves the effectiveness of the proposed CPG-based hexapod robot control.
本文提出了一种基于中枢模式发生器（CPG）的弯腿六足机器人步态生成方法，该方法能够实现多模式步态之间的平滑过渡。首先，分析了弯腿的运动以及步态转换过程中的不稳定性。然后，在CPG控制中应用了改进的霍普夫振荡器，通过调整一个简单参数即可实现多种步态。此外，还通过平滑步态转换函数和步态规划提出了一种平滑步态切换方法。为六足机器人规划了三角步态、四足步态和波动步态，以实现快速、稳定且连续的平滑步态转换。进行了MATLAB和ADAMS仿真以及相应的实际实验。结果表明，所提出的方法能够实现平滑且连续的相互步态转换，证明了所提出的基于CPG的六足机器人控制方法的有效性。
