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CPG-based online tr...
CPG-based online trajectory generation for quadruped rovers
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- Bohra, Murtaza M. (author)
- Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto
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- Xu, Linsen (author)
- Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto
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- Emami, Reza (author)
- Luleå tekniska universitet,Rymdteknik
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(creator_code:org_t)
- Piscataway, NJ : IEEE Communications Society, 2016
- 2016
- English.
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In: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). - Piscataway, NJ : IEEE Communications Society. - 9781467396745 ; , s. 1053-1058
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- Legged rovers are often considered as viable solutions for traversing unknown terrain. A 2D sagittal plane rover model, based on a domestic cat, is considered in this paper, and an online model-free gait planning framework is implemented using Central Pattern Generators. The framework is used to generate joint trajectories for any arbitrarily varying speed profile, and regulate locomotion transition and speed modulation, both continuously and endogenously. For a continuously changing speed profile, the gait transition is continuous as well. For a discontinuously changing speed profile, a hopping motion is observed, because the rover's thrust speed cannot increase discontinuously
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Keyword
- Onboard space systems
- Rymdtekniska system
Publication and Content Type
- ref (subject category)
- kon (subject category)
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