Gait planning of a quadruped robot integrating inverse kinematics and CPG

Long Huang; Xuan Wu; Xiaojie Wang

doi:10.1117/12.2582535

22 March 2021 Gait planning of a quadruped robot integrating inverse kinematics and CPG

Long Huang, Xuan Wu, Xiaojie Wang

Proceedings Volume 11586, Bioinspiration, Biomimetics, and Bioreplication XI; 115860O (2021) https://doi.org/10.1117/12.2582535
Event: SPIE Smart Structures + Nondestructive Evaluation, 2021, Online Only

Abstract

In this paper, we designed a quadruped, dog-like robot which has 3 degrees of freedom (DOFs) per leg, and combined two commonly used methods for robot’s gait control, to make better gait planning strategy in different environments. First, we chose the inverse kinematics control method, and established the quadruped robot simulation motion model in Webots to verify the validity of the motion modes such as forward, backward, turning, and height adjustment of the body. Then we utilized the CPG (Central Pattern Generator) control method, and an improved Hopf nonlinear harmonic oscillator, which requires less parameters, smaller computation complexity, and clearer physical meaning, to generate a faster trot gait. According to the timing diagram of different gaits, the coupling topology structure between CPG units was designed, with joint motion curve generated. The simulation and experiment show that compared to inverse kinematics, CPG is more suitable for producing simpler and faster periodic gait planning signals, while inverse kinematics method takes advantages in the body’s self-balance and foot’s adaptation on the ground. The two methods can be complementary to the motion control of the quadruped robot.

Conference Presentation

Citation Download Citation

Long Huang, Xuan Wu, and Xiaojie Wang "Gait planning of a quadruped robot integrating inverse kinematics and CPG", Proc. SPIE 11586, Bioinspiration, Biomimetics, and Bioreplication XI, 115860O (22 March 2021); https://doi.org/10.1117/12.2582535

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available