Implementing gait pattern control and transition for legged locomotion
Conference paper
Yang, Z., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F. 2014. Implementing gait pattern control and transition for legged locomotion. 27th International Conference on CADCAM, Robotics and Factories of the Future 2014. London, United Kingdom 22 - 24 Jul 2014 IOP Publishing. pp. 1-7 https://doi.org/10.1088/1757-899X/65/1/012008
Type | Conference paper |
---|---|
Title | Implementing gait pattern control and transition for legged locomotion |
Authors | Yang, Z., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F. |
Abstract | In this work, a generalised central pattern generator (CPG) model is formulated to generate a full range of gait patterns for a hexapod insect. To this end, a recurrent neuronal network module, as the building block for rhythmic patterns, is proposed to extend the concept of oscillatory building blocks (OBB) for constructing a CPG model. The model is able to make transitions between different gait patterns by simply adjusting one model parameter. Simulation results are further presented to show the effectiveness and performance of the CPG network. |
Conference | 27th International Conference on CADCAM, Robotics and Factories of the Future 2014 |
Page range | 1-7 |
Proceedings Title | 27th International Conference on CADCAM, Robotics and Factories of the Future 2014 22–24 July 2014, London, UK |
Series | IOP Conference Series-Materials Science and Engineering |
ISSN | 1757-8981 |
Electronic | 1757-899X |
Publisher | IOP Publishing |
Publication dates | |
22 Jul 2014 | |
Publication process dates | |
Deposited | 28 May 2015 |
Completed | Jul 2014 |
Output status | Published |
Publisher's version | License |
Copyright Statement | Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. |
Web address (URL) | http://iopscience.iop.org/1757-899X/65/1/012008/pdf/1757-899X_65_1_012008.pdf |
Digital Object Identifier (DOI) | https://doi.org/10.1088/1757-899X/65/1/012008 |
Web of Science identifier | WOS:000340247700008 |
Language | English |
https://repository.mdx.ac.uk/item/856w9
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