Jumping rhythm generator by CPG for a multi-legged robot

Masaaki Ikeda, Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Three features of a legged robot are listed as the discrete disposition of supported legs, the flexible posture without changing disposition of supported legs, and the obstacle avoidance with a three dimensional behavior. The maximum height of an avoidable obstacle is defined by the leg mechanism of a robot. The capability of obstacle avoidance is improved by a jumping motion. In this paper, we discuss the rhythmic jumping of a multi-legged robot using the central pattern generator (CPG). Authors propose the construction method of CPG for six legged robot, in which each leg has a compressed spring. The effectiveness of the present method is illustrated by some simulations.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages395-398
Number of pages4
Publication statusPublished - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

Keywords

  • Central pattern generator
  • Jumping robot
  • Legged robot
  • Robot simulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Ikeda, M., Izumi, K., & Watanabe, K. (2011). Jumping rhythm generator by CPG for a multi-legged robot. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 395-398). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).