Motion Control of a Gecko-like Robot Based on a Central Pattern Generator.

Journal: Sensors (Basel, Switzerland)
PMID: 34577251

Abstract

To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.

Authors

  • Qing Han
    Engineering College, Honghe University, Honghe Yunnan, China.
  • Feixiang Cao
    School of Mechatronic, Northwestern Polytechnical University, Xi'an 710072, China.
  • Peng Yi
    Department of Control Science and Engineering, Tongji University, Shanghai, China; Shanghai Research Institute of Intelligent Science and Technology, Tongji University, Shanghai, China. Electronic address: yipeng@tongji.edu.cn.
  • Tiancheng Li
    School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.

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