Locomotion pattern generation of semi-looper type robots using central pattern generators based on van der pol oscillators

Keigo Watanabe, Akihito Tajima, Kiyotaka Izumi

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

4 Citations (Scopus)

Abstract

A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the robot is conducted using a CPG consisting of one van der Pol (VDP) oscillator. A CPG network composed of two VDP oscillators is further constructed to realize four-rhythm motion with three links and two actuators.

Original languageEnglish
Title of host publicationProceedings - IEEE INDIN 2008
Subtitle of host publication6th IEEE International Conference on Industrial Informatics
Pages377-382
Number of pages6
DOIs
Publication statusPublished - Oct 31 2008
Externally publishedYes
EventIEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics - Daejeon, Korea, Republic of
Duration: Jul 13 2008Jul 16 2008

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)1935-4576

Other

OtherIEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
CountryKorea, Republic of
CityDaejeon
Period7/13/087/16/08

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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    Watanabe, K., Tajima, A., & Izumi, K. (2008). Locomotion pattern generation of semi-looper type robots using central pattern generators based on van der pol oscillators. In Proceedings - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics (pp. 377-382). [4618128] (IEEE International Conference on Industrial Informatics (INDIN)). https://doi.org/10.1109/INDIN.2008.4618128